Add notes/kvaser support for non-iso support

can/interfaces/kvaser/canlib.py

@@ -415,6 +415,10 @@ def __init__(
             In this case, the bit will be sampled three quanta in a row,
             with the last sample being taken in the edge between TSEG1 and TSEG2.
             Three samples should only be used for relatively slow baudrates.
+        :param bool fd_non_iso:
+            Open the channel in Non-ISO (Bosch) FD mode. Only applies for FD buses.
+            This changes the handling of the stuff-bit counter and the CRC. Defaults
+            to False (ISO mode)
 
         :param bool driver_mode:
             Silent or normal.
@@ -454,6 +458,7 @@ def __init__(
         accept_virtual = kwargs.get("accept_virtual", True)
         fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False)
         data_bitrate = kwargs.get("data_bitrate", None)
+        fd_non_iso = kwargs.get("fd_non_iso", False)
 
         try:
             channel = int(channel)
@@ -483,7 +488,10 @@ def __init__(
         if accept_virtual:
             flags |= canstat.canOPEN_ACCEPT_VIRTUAL
         if fd:
-            flags |= canstat.canOPEN_CAN_FD
+            if fd_non_iso:
+                flags |= canstat.canOPEN_CAN_FD_NONISO
+            else:
+                flags |= canstat.canOPEN_CAN_FD
 
         log.debug("Creating read handle to bus channel: %s", channel)
         self._read_handle = canOpenChannel(channel, flags)

doc/interfaces/kvaser.rst

@@ -39,6 +39,11 @@ in the ``recv`` method. If a message does not match any of the filters,
 ``recv()`` will return None.
 
 
+ISO/Non-ISO CAN FD Mode
+-----------------------
+
+Kvaser devices in FD mode can be configured for either ISO or Non-ISO mode in the bus initialization with the ``fd_non_iso`` option.
+
 Custom methods
 ~~~~~~~~~~~~~~
 

doc/interfaces/pcan.rst

@@ -37,7 +37,14 @@ Here is an example configuration file for using `PCAN-USB <https://www.peak-syst
 ``bitrate`` (default ``500000``)
  Channel bitrate
 
+ISO/Non-ISO CAN FD Mode
+-----------------------
 
+The PCAN basic driver doesn't presently allow toggling the ISO/Non-ISO FD modes.
+The default mode is stored on the device and can be controlled using the PCANView Windows application.
+See: https://forum.peak-system.com/viewtopic.php?t=6496
+
+This restriction does not apply to the socket-can driver.
 
 .. _pcandoc linux installation:
 

doc/interfaces/socketcan.rst

@@ -284,6 +284,11 @@ to ensure usage of SocketCAN Linux API. The most important differences are:
     :members:
     :inherited-members:
 
+ISO/Non-ISO CAN FD Mode
+-----------------------
+
+Socket CAN devices can (for supported hardware) control ISO vs Non-ISO FD during creation with the ``ip`` command using the ``fd-non-iso`` flag.
+
 .. External references
 
 .. _Linux kernel docs: https://www.kernel.org/doc/Documentation/networking/can.txt

test/test_kvaser.py

@@ -196,6 +196,7 @@ def test_can_timing(self):
     def test_canfd_timing(self):
         canlib.canSetBusParams.reset_mock()
         canlib.canSetBusParamsFd.reset_mock()
+        canlib.canOpenChannel.reset_mock()
         timing = can.BitTimingFd.from_bitrate_and_segments(
             f_clock=80_000_000,
             nom_bitrate=500_000,
@@ -210,6 +211,31 @@ def test_canfd_timing(self):
         can.Bus(channel=0, interface="kvaser", timing=timing)
         canlib.canSetBusParams.assert_called_once_with(0, 500_000, 68, 11, 10, 1, 0)
         canlib.canSetBusParamsFd.assert_called_once_with(0, 2_000_000, 10, 9, 8)
+        canlib.canOpenChannel.assert_called_with(
+            0, constants.canOPEN_CAN_FD | constants.canOPEN_ACCEPT_VIRTUAL
+        )
+
+    def test_canfd_non_iso(self):
+        canlib.canSetBusParams.reset_mock()
+        canlib.canSetBusParamsFd.reset_mock()
+        canlib.canOpenChannel.reset_mock()
+        timing = can.BitTimingFd.from_bitrate_and_segments(
+            f_clock=80_000_000,
+            nom_bitrate=500_000,
+            nom_tseg1=68,
+            nom_tseg2=11,
+            nom_sjw=10,
+            data_bitrate=2_000_000,
+            data_tseg1=10,
+            data_tseg2=9,
+            data_sjw=8,
+        )
+        can.Bus(channel=0, interface="kvaser", timing=timing, fd_non_iso=True)
+        canlib.canSetBusParams.assert_called_once_with(0, 500_000, 68, 11, 10, 1, 0)
+        canlib.canSetBusParamsFd.assert_called_once_with(0, 2_000_000, 10, 9, 8)
+        canlib.canOpenChannel.assert_called_with(
+            0, constants.canOPEN_CAN_FD_NONISO | constants.canOPEN_ACCEPT_VIRTUAL
+        )
 
     def test_canfd_nondefault_data_bitrate(self):
         canlib.canSetBusParams.reset_mock()