Golioth ODB-II / CAN Asset Tracker Reference Design

The OBD-II / CAN Asset Tracker Reference Design connects to the OBD-II diagnostic port in a vehicle and continuously records vehicle sensor values using the ISO 15765 (CAN bus) protocol.

The Vehicle Speed Sensor (VSS) values are combined with GPS location/time data and uploaded to the Golioth Cloud. The timestamp from the GPS reading is used as the timestamp for the data record in the Golioth LightDB Stream database.

GPS readings can be received as frequently as once-per-second. When the device is out of cellular range, the reference design firmware caches data locally and uploads it later when connection to the cellular network is restored.

Business use cases and hardware build details are available on the CAN Asset Tracker Project Page.

This repository contains the firmware source code and pre-built release firmware images.

Supported Hardware

• Nordic nRF9160-DK
• Golioth Aludel Elixir

Additional Sensors/Components

• u-blox NEO-M9N GNSS module
• Microchip MCP2515 CAN controller
• Texas Instruments SN65HVD230 CAN Transceiver

Golioth Features

This app implements:

• Device Settings Service
• Remote Procedure Call (RPC)
• Stream Client
• LightDB State Client
• Over-the-Air (OTA) Firmware Upgrade
• Backend Logging

Settings Service

The following settings should be set in the Device Settings menu of the Golioth Console.

• LOOP_DELAY_S Adjusts the delay between sensor readings. Set to an integer value (seconds).

  Default value is 5 seconds.

• GPS_DELAY_S Adjusts the delay between recording GPS readings. Set to an integer value (seconds).

  Default value is 3 seconds.

• FAKE_GPS_ENABLED Controls whether fake GPS position data is reported when a real GPS location signal is unavailable. Set to a boolean value.

  Default value is false.

• FAKE_GPS_LATITUDE Sets the fake latitude value to be used when fake GPS is enabled. Set to a floating point value (-90.0 to 90.0).

  Default value is 37.789980.

• FAKE_GPS_LONGITUDE Sets the fake longitude value to be used when fake GPS is enabled. Set to a floating point value (-180.0 to 180.0).

  Default value is -122.400860.

• VEHICLE_SPEED_DELAY_S Adjusts the delay between vehicle speed readings. Set to an integer value (seconds).

  Default value is 1 second.

Remote Procedure Call (RPC) Service

The following RPCs can be initiated in the Remote Procedure Call tab of each device in the Golioth Console.

• get_network_info Query and return network information.

• reboot Reboot the system.

• set_log_level Set the log level.

  The method takes a single parameter which can be one of the following integer values:

  • 0: LOG_LEVEL_NONE
  • 1: LOG_LEVEL_ERR
  • 2: LOG_LEVEL_WRN
  • 3: LOG_LEVEL_INF
  • 4: LOG_LEVEL_DBG

Time-Series Stream data

Vehicle data is periodically sent to the following paths of the LightDB Stream service:

• gps/lat: Latitude (°)
• gps/lon: Longitude (°)
• gps/fake: true if GPS location data is fake, otherwise false
• vehicle/speed: Vehicle Speed (km/h)

{
  "tracker": {
    "gps": {
      "fake": false,
      "lat": 43.081852,
      "lon": -89.305275
    },
    "time": "2024-12-13T23:32:53.000Z",
    "vehicle": {
      "speed": 15
    }
  }
}

If your board includes a battery, voltage and level readings will be sent to the battery path.

Note

Your Golioth project must have a Pipeline enabled to receive this data. See the Add Pipeline to Golioth section below.

Stateful Data (LightDB State)

The concept of Digital Twin is demonstrated with the LightDB State example_int0 and example_int1 variables that are subpaths of the desired and state paths.

• desired values may be changed from the cloud side. The device will recognize these, validate them for [0..65535] bounding, and then reset these values to -1
• state values will be updated by the device to reflect the device's actual stored value. The cloud may read the state endpoints to determine device status. In this arrangement, only the device should ever write to the state endpoints.

{
  "desired": {
    "example_int0": -1,
    "example_int1": -1
  },
  "state": {
    "example_int0": 0,
    "example_int1": 1
  }
}

By default the state values will be 0 and 1. Try updating the desired values and observe how the device updates its state.

OTA Firmware Update

This application includes the ability to perform Over-the-Air (OTA) firmware updates. To do so, you need a binary compiled with a different version number than what is currently running on the device.

Note

If a newer release is available than what your device is currently running, you may download the pre-compiled binary that ends in _update.bin and use it in step 2 below.

1. Update the version number in the VERSION file and perform a pristine (important) build to incorporate the version change.

2. Upload the build/app/zephyr/zephyr.signed.bin file as a Package for your Golioth project.

   • Use main as the package name.
   • Use the same version number from step 1.

3. Create a Cohort and add your device to it.

4. Create a Deployment for your Cohort using the package name and version number from step 2.

5. Devices in your Cohort will automatically upgrade to the most recently deployed firmware.

Visit the Golioth Docs OTA Firmware Upgrade page for more info.

Further Information in Header Files

Please refer to the comments in each header file for a service-by-service explanation of this template.

Add Pipeline to Golioth

Golioth uses Pipelines to route stream data. This gives you flexibility to change your data routing without requiring updated device firmware.

Whenever sending stream data, you must enable a pipeline in your Golioth project to configure how that data is handled. Add the contents of pipelines/json-to-lightdb.yml as a new pipeline as follows (note that this is the default pipeline for new projects and may already be present):

1. Navigate to your project on the Golioth web console.
2. Select Pipelines from the left sidebar and click the Create button.
3. Give your new pipeline a name and paste the pipeline configuration into the editor.
4. Click the toggle in the bottom right to enable the pipeline and then click Create.

All data streamed to Golioth in JSON format will now be routed to LightDB Stream and may be viewed using the web console. You may change this behavior at any time without updating firmware simply by editing this pipeline entry.

Local set up

Important

Do not clone this repo using git. Zephyr's west meta tool should be used to set up your local workspace.

Install the Python virtual environment (recommended)

cd ~
mkdir reference-design-can-asset-tracker
python -m venv reference-design-can-asset-tracker/.venv
source reference-design-can-asset-tracker/.venv/bin/activate
pip install wheel west ecdsa

Use west to initialize and install

cd ~/reference-design-can-asset-tracker
west init -m https://github.com/golioth/reference-design-can-asset-tracker.git .
west update
west zephyr-export
pip install -r deps/zephyr/scripts/requirements.txt

Building the application

Build the Zephyr sample application for the Nordic nRF9160 DK (nrf9160dk_nrf9160_ns) from the top level of your project. After a successful build you will see a new build directory. Note that any changes (and git commits) to the project itself will be inside the app folder. The build and deps directories being one level higher prevents the repo from cataloging all of the changes to the dependencies and the build (so no .gitignore is needed).

Prior to building, update VERSION file to reflect the firmware version number you want to assign to this build. Then run the following commands to build and program the firmware onto the device.

Warning

You must perform a pristine build (use -p or remove the build directory) after changing the firmware version number in the VERSION file for the change to take effect.

$ (.venv) west build -p -b nrf9160dk/nrf9160/ns --sysbuild app
$ (.venv) west flash

Configure PSK-ID and PSK using the device shell based on your Golioth credentials and reboot:

uart:~$ settings set golioth/psk-id <my-psk-id@my-project>
uart:~$ settings set golioth/psk <my-psk>
uart:~$ kernel reboot cold

External Libraries

The following code libraries are installed by default. If you are not using the custom hardware to which they apply, you can safely remove these repositories from west.yml and remove the includes/function calls from the C code.

• golioth-zephyr-boards includes the board definitions for the Golioth Aludel-Mini
• libostentus is a helper library for controlling the Ostentus ePaper faceplate
• zephyr-network-info is a helper library for querying, formatting, and returning network connection information via Zephyr log or Golioth RPC

Have Questions?

Please get in touch with Golioth engineers by starting a new thread on the Golioth Forum.