can-j1939 1.0.0

SAE J1939 stack implementation

A implementation of the CAN SAE J1939 standard for Python. This implementation was taken from https://github.com/benkfra/j1939, as no further development took place.

If you experience a problem or think the stack would not behave properly, do not hesitate to open a ticket or write an email. Pullrequests are of course even more welcome!

The project uses the python-can package to support multiple hardware drivers. At the time of writing the supported interfaces are

• CAN over Serial

• CAN over Serial / SLCAN

• CANalyst-II

• IXXAT Virtual CAN Interface

• Kvaser’s CANLIB

• NEOVI Interface

• NI-CAN

• PCAN Basic API

• Socketcan

• SYSTEC interface

• USB2CAN Interface

• Vector

• Virtual

• isCAN

Overview

An SAE J1939 CAN Network consists of multiple Electronic Control Units (ECUs). Each ECU can have one or more Controller Applications (CAs). Each CA has its own (unique) Address on the bus. This address is either acquired within the address claiming procedure or set to a fixed value. In the latter case, the CA has to announce its address to the bus to check whether it is free.

The CAN messages in a SAE J1939 network are called Protocol Data Units (PDUs). This definition is not completely correct, but close enough to think of PDUs as the CAN messages.

Features

• one ElectronicControlUnit (ECU) can hold multiple ControllerApplications (CA)

• ECU (CA) Naming according SAE J1939/81

• (under construction) full featured address claiming procedure according SAE J1939/81

• full support of transport protocol according SAE J1939/21 for sending and receiveing

  • Message Packaging and Reassembly (up to 1785 bytes)

    • Transfer Protocol Transfer Data (TP.TD)

    • Transfer Protocol Communication Management (TP.CM)

  • Multi-Packet Broadcasts

    • Broadcast Announce Message (TP.BAM)

• (under construction) Requests (global and specific)

• (under construction) correct timeout and deadline handling

• (under construction) almost complete testcoverage

Installation

Install can-j1939 with pip:

$ pip install can-j1939

or do the trick with:

$ git clone https://github.com/juergenH87/can-j1939.git
$ cd j1939
$ pip install .

Quick start

To simply receive all passing (public) messages on the bus you can subscribe to the ECU object.

import logging
import time
import can
import j1939

logging.getLogger('j1939').setLevel(logging.DEBUG)
logging.getLogger('can').setLevel(logging.DEBUG)

def on_message(priority, pgn, sa, timestamp, data):
    """Receive incoming messages from the bus

    :param int priority:
        Priority of the message
    :param int pgn:
        Parameter Group Number of the message
    :param int sa:
        Source Address of the message
    :param int timestamp:
        Timestamp of the message
    :param bytearray data:
        Data of the PDU
    """
    print("PGN {} length {}".format(pgn, len(data)))

def main():
    print("Initializing")

    # create the ElectronicControlUnit (one ECU can hold multiple ControllerApplications)
    ecu = j1939.ElectronicControlUnit()

    # Connect to the CAN bus
    # Arguments are passed to python-can's can.interface.Bus() constructor
    # (see https://python-can.readthedocs.io/en/stable/bus.html).
    # ecu.connect(bustype='socketcan', channel='can0')
    # ecu.connect(bustype='kvaser', channel=0, bitrate=250000)
    ecu.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
    # ecu.connect(bustype='ixxat', channel=0, bitrate=250000)
    # ecu.connect(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)
    # ecu.connect(bustype='nican', channel='CAN0', bitrate=250000)

    # subscribe to all (global) messages on the bus
    ecu.subscribe(on_message)

    time.sleep(120)

    print("Deinitializing")
    ecu.disconnect()

if __name__ == '__main__':
    main()

A more sophisticated example in which the CA class was overloaded to include its own functionality:

import logging
import time
import can
import j1939

logging.getLogger('j1939').setLevel(logging.DEBUG)
logging.getLogger('can').setLevel(logging.DEBUG)

class OwnCaToProduceCyclicMessages(j1939.ControllerApplication):
    """CA to produce messages

    This CA produces simulated sensor values and cyclically sends them to
    the bus with the PGN 0xFEF6 (Intake Exhaust Conditions 1).
    """

    def __init__(self, name, device_address_preferred=None):
        # old fashion calling convention for compatibility with Python2
        j1939.ControllerApplication.__init__(self, name, device_address_preferred)

    def start(self):
        """Starts the CA
        (OVERLOADED function)
        """
        # add our timer event
        self._ecu.add_timer(0.500, self.timer_callback)
        # call the super class function
        return j1939.ControllerApplication.start(self)

    def stop(self):
        """Stops the CA
        (OVERLOADED function)
        """
        self._ecu.remove_timer(self.timer_callback)

    def on_message(self, priority, pgn, sa, timestamp, data):
        """Feed incoming message to this CA.
        (OVERLOADED function)
        :param int priority:
            Priority of the message
        :param int pgn:
            Parameter Group Number of the message
        :param intsa:
            Source Address of the message
        :param int timestamp:
            Timestamp of the message
        :param bytearray data:
            Data of the PDU
        """
        print("PGN {} length {}".format(pgn, len(data)))

    def timer_callback(self, cookie):
        """Callback for sending messages

        This callback is registered at the ECU timer event mechanism to be
        executed every 500ms.

        :param cookie:
            A cookie registered at 'add_timer'. May be None.
        """
        # wait until we have our device_address
        if self.state != j1939.ControllerApplication.State.NORMAL:
            # returning true keeps the timer event active
            return True

        # create data with 8 bytes
        data = [j1939.ControllerApplication.FieldValue.NOT_AVAILABLE_8] * 8

        # sending normal broadcast message
        self.send_pgn(0, 0xFE, 0xF6, 6, data)

        # sending normal peer-to-peer message, destintion address is 0x04
        self.send_pgn(0, 0xD0, 0x04, 6, data)

        # create data with 100 bytes
        data = [j1939.ControllerApplication.FieldValue.NOT_AVAILABLE_8] * 100

        # sending multipacket message with TP-BAM
        self.send_pgn(0, 0xFE, 0xF6, 6, data)

        # sending multipacket message with TP-CMDT, destination address is 0x05
        self.send_pgn(0, 0xD0, 0x05, 6, data)

        # returning true keeps the timer event active
        return True


def main():
    print("Initializing")

    # create the ElectronicControlUnit (one ECU can hold multiple ControllerApplications)
    ecu = j1939.ElectronicControlUnit()

    # Connect to the CAN bus
    # Arguments are passed to python-can's can.interface.Bus() constructor
    # (see https://python-can.readthedocs.io/en/stable/bus.html).
    # ecu.connect(bustype='socketcan', channel='can0')
    # ecu.connect(bustype='kvaser', channel=0, bitrate=250000)
    ecu.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
    # ecu.connect(bustype='ixxat', channel=0, bitrate=250000)
    # ecu.connect(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)
    # ecu.connect(bustype='nican', channel='CAN0', bitrate=250000)
    # ecu.connect('testchannel_1', bustype='virtual')

    # compose the name descriptor for the new ca
    name = j1939.Name(
        arbitrary_address_capable=0,
        industry_group=j1939.Name.IndustryGroup.Industrial,
        vehicle_system_instance=1,
        vehicle_system=1,
        function=1,
        function_instance=1,
        ecu_instance=1,
        manufacturer_code=666,
        identity_number=1234567
        )

    # create derived CA with given NAME and ADDRESS
    ca = OwnCaToProduceCyclicMessages(name, 128)
    # add CA to the ECU
    ecu.add_ca(controller_application=ca)
    # by starting the CA it starts the address claiming procedure on the bus
    ca.start()

    time.sleep(120)

    print("Deinitializing")
    ca.stop()
    ecu.disconnect()

if __name__ == '__main__':
    main()

Credits

This implementation was initially inspired by the CANopen project of Christian Sandberg. Thanks for your great work!

Most of the informations about SAE J1939 are taken from the papers and the book of Copperhill technologies and from my many years of experience in J1939 of course :-)