Vector CAN FD #311
Vector CAN FD #311
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can/interfaces/vector/canlib.py
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| vxlapi.XL_INTERFACE_VERSION, vxlapi.XL_BUS_TYPE_CAN) | ||
| if fd: | ||
| vxlapi.xlOpenPort(self.port_handle, self._app_name, self.mask, | ||
| permission_mask, 16000, |
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Why 16000? Can this also be rx_queue_size?
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Yeah, hardcoded value was taken over from a Vector example. Anyway the Vector documentation gives different ranges for rx_queue_size in case of CAN or CAN-FD. So I will change the default value to be in both ranges and use rx_queue_size in both cases.
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Hello together,
did somebody test the CAN FD ? Is it working?
Thanks
David
can/interfaces/vector/canlib.py
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| self.canFdConf.arbitrationBitRate = ctypes.c_uint(bitrate) | ||
| else: | ||
| self.canFdConf.arbitrationBitRate = ctypes.c_uint(500000) | ||
| self.canFdConf.sjwAbr = ctypes.c_uint(2) |
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Do these need to be different for different bitrates? Should they be parameters that the user can set?
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Absolutely!
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By the way: Do you know whether ctypes.c_uint is necessary?
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It’s not necessary. The types have already been defined for the struct or the function.
can/interfaces/vector/canlib.py
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| extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID), | ||
| is_remote_frame=bool(flags & vxlapi.XL_CAN_RXMSG_FLAG_RTR), | ||
| is_error_frame=bool(flags & vxlapi.XL_CAN_RXMSG_FLAG_EF), | ||
| is_fd=True, |
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As I understood it, this should be bool(flags & vxlapi.XL_CAN_RXMSG_FLAG_EDL) since EDL is set for all FD-frames to distinguish them from regular frames. Or what do you think?
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I guess I messed up fd for channel and fd per message. You're right!
can/interfaces/vector/canlib.py
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| if self.fd: | ||
| if msg.dlc > vxlapi.MAX_MSG_LEN: #extended data length (XL_CAN_RXMSG_FLAG_EDL) not in msg class |
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Same here, shouldn't EDL be set for all FD-frames?
can/interfaces/vector/canlib.py
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| XLcanTxEvent.tagData.canMsg.canId = msg_id | ||
| XLcanTxEvent.tagData.canMsg.msgFlags = flags | ||
| XLcanTxEvent.tagData.canMsg.dlc = msg.dlc |
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Use can.util.len2dlc() since I believe this should be the code, not the number of bytes.
can/interfaces/vector/canlib.py
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| else: | ||
| if event.tag == vxlapi.XL_CAN_EV_TAG_RX_OK or event.tag == vxlapi.XL_CAN_EV_TAG_TX_OK: | ||
| msg_id = event.tagData.canRxOkMsg.canId | ||
| dlc = self.map_dlc(event.tagData.canRxOkMsg.dlc) |
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You can use can.util.dlc2len().
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I will remove the own mapping and use the utils function.
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Hi, thanks for the review - it's really appreciated! I'll commit the changes soon. I also plan some testing with CANoe and VN1610, but most likely it will take some time... |
Closes #300.