Description

Dataspeed Bridge sample shows how to convert CAN signals coming to/from a Dataspeed drive-by-wire system to a generic NVIDIA-defined CAN bus format, as defined in the NVIDIA- provided Database CAN (DBC) file.

The sample expects that the Dataspeed CAN bus messages are flowing over the actual CAN bus or a virtual CAN network (say vcan0).

The sample intercepts the CAN bus messages, converts them to the NVIDIA generic drive-by-wire format, and puts the converted messages back on the CAN bus. If the vehicleio sample is running with type=generic, it picks up and displays vehicle parameters gleaned from these generic messages, such as the status for brake, throttle, and steering. For information on vehicleio, see Additional information (end of this section).

The sample can also send CAN bus messages with generic commands that influence vehicle controls such as throttle, brake, and steering. It does so by converting the messages to Dataspeed commands and then executing them.

Running the Sample

The command line for the sample is:

./sample_dataspeedBridge --dbc=[path/to/dbc/file]
                         --driver=[can.socket]
                         --params=[device=canN]
                         --rig=[path/to/rig/file]

where

--dbc=[path/to/dbc/file]
    DBC file with which to parse CAN data.
    Default value: path/to/data/samples/sensors/can/AutonomousVehicleCANSignals.dbc

--driver=[can.socket]
    Specifies the can driver.
    Default value: can.socket

--params=[device=canN]
    Specifies the actual can device.
    Default value: device=can0

--rig=[path/to/rig/file]
    Path to the rig configuration file.
    Default value: path/to/data/samples/vehicleio/rig.json

If you do not have an access to the actual Dataspeed-equipped vehicle, please see VehicleIO Sample for information on how to replay pre-recorded Dataspeed messages on either virtual CAN or physical CAN using Linux.

QNX-Specific Notes

On QNX, outgoing CAN messages cannot be seen locally, thus it is not possible to run both Dataspeed Bridge Sample and VehicleIO Sample on the same SoC, such as Xavier 1 or 2. You can work-around this limitation by using two separate SoCs connected to the same CAN Bus, as shown below.

+--+---(Physical Dataspeed CAN Bus: Vehicle messages or replayed CAN messages from Linux host system)
|  |
|  +
|  (QNX SoC 1: Dataspeed Bridge Sample)
+
(QNX SoC 2: VehicleIO Sample using Generic VehicleIO back-end)

Additional information

For more information, see:

Table of Contents

Description

Running the Sample

QNX-Specific Notes

Additional information