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Device: FlexRay: Add additional configuration options for Controller and Cluster
This commit is contained in:
Thomas Stoddard
committed by
Kyle Schwarz
Kyle Schwarz
parent
5f16adc103
commit
6a32823a0f
@@ -0,0 +1,218 @@
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"""
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FlexRay coldstart example using icsneopy library.
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Demonstrates coldstart capability where one FlexRay device can start
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the network without needing other devices connected.
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CRITICAL COLDSTART REQUIREMENTS:
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1. key_slot_used_for_startup = True
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2. key_slot_used_for_sync = True
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3. set_allow_coldstart(True)
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4. Each controller needs a unique key_slot_id
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5. Proper bus termination (required for FlexRay)
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"""
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import icsneopy
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import time
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def get_coldstart_controller_config(slot_id):
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"""
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Create FlexRay controller configuration for COLDSTART.
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The three critical settings for coldstart are marked below.
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"""
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config = icsneopy.FlexRay.Controller.Configuration()
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config.accept_startup_range_microticks = 160
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config.allow_halt_due_to_clock = True
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config.allow_passive_to_active_cycle_pairs = 15
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config.cluster_drift_damping = 2
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config.channel_a = True
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config.channel_b = True
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config.decoding_correction_microticks = 56
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config.delay_compensation_a_microticks = 28
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config.delay_compensation_b_microticks = 28
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config.extern_offset_correction_control = 0
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config.extern_rate_correction_control = 0
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config.extern_offset_correction_microticks = 0
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config.extern_rate_correction_microticks = 0
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# CRITICAL FOR COLDSTART: Set the key slot ID
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config.key_slot_id = slot_id
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config.key_slot_only_enabled = False
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# CRITICAL FOR COLDSTART: Enable startup and sync on key slot
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config.key_slot_used_for_startup = True # Required for coldstart
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config.key_slot_used_for_sync = True # Required for coldstart
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config.latest_tx_minislot = 226
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config.listen_timeout = 401202
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config.macro_initial_offset_a = 7
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config.macro_initial_offset_b = 7
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config.micro_initial_offset_a = 36
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config.micro_initial_offset_b = 36
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config.micro_per_cycle = 200000
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config.mts_on_a = False
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config.mts_on_b = False
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config.offset_correction_out_microticks = 189
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config.rate_correction_out_microticks = 601
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config.second_key_slot_id = 0
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config.two_key_slot_mode = False
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config.wakeup_pattern = 55
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config.wakeup_on_channel_b = False
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return config
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def get_cluster_config():
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"""Create FlexRay cluster configuration."""
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config = icsneopy.FlexRay.Cluster.Configuration()
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config.speed = icsneopy.FlexRay.Cluster.SpeedType.FLEXRAY_BAUDRATE_10M
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config.strobe_point_position = icsneopy.FlexRay.Cluster.SPPType.FLEXRAY_SPP_5
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config.action_point_offset = 4
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config.casr_x_low_max = 64
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config.cold_start_attempts = 8
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config.cycle_duration_micro_sec = 5000
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config.dynamic_slot_idle_phase_minislots = 1
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config.listen_noise_macroticks = 4
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config.macroticks_per_cycle = 5000
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config.macrotick_duration_micro_sec = 1
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config.max_without_clock_correction_fatal = 2
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config.max_without_clock_correction_passive = 2
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config.minislot_action_point_offset_macroticks = 4
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config.minislot_duration_macroticks = 10
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config.network_idle_time_macroticks = 40
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config.network_management_vector_length_bytes = 1
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config.number_of_minislots = 0
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config.number_of_static_slots = 32
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config.offset_correction_start_macroticks = 4991
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config.payload_length_of_static_slot_in_words = 67
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config.static_slot_macroticks = 155
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config.symbol_window_macroticks = 0
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config.symbol_window_action_point_offset_macroticks = 0
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config.sync_frame_id_count_max = 15
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config.transmission_start_sequence_duration_bits = 11
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config.wakeup_rx_idle_bits = 40
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config.wakeup_rx_low_bits = 40
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config.wakeup_rx_window_bits = 301
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config.wakeup_tx_active_bits = 60
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config.wakeup_tx_idle_bits = 180
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return config
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def flexray_coldstart():
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"""Perform FlexRay coldstart operation."""
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devices = icsneopy.find_all_devices()
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if not devices:
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raise RuntimeError("No devices found")
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# Find a device with FlexRay support
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device = None
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for dev in devices:
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if dev.get_extension("FlexRay"):
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device = dev
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break
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if not device:
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raise RuntimeError("No FlexRay-capable device found")
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print(f"Using device: {device.get_product_name()} {device.get_serial()}")
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try:
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# Get FlexRay controllers
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controllers = device.get_flexray_controllers()
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if not controllers:
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raise RuntimeError("Device has no FlexRay controllers")
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print(f"Device has {len(controllers)} FlexRay controller(s)")
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# Configure controllers for coldstart
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cluster_config = get_cluster_config()
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base_slot_id = 1
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for i, controller in enumerate(controllers):
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slot_id = base_slot_id + i
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controller_config = get_coldstart_controller_config(slot_id)
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print(f"\nConfiguring controller {i} for COLDSTART:")
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print(f" Key Slot ID: {slot_id}")
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print(f" Key Slot Used for Startup: {controller_config.key_slot_used_for_startup}")
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print(f" Key Slot Used for Sync: {controller_config.key_slot_used_for_sync}")
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# CRITICAL FOR COLDSTART: Enable coldstart capability
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controller.set_allow_coldstart(True)
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print(f" Allow Coldstart: True")
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# Configure to start when going online
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controller.set_start_when_going_online(True)
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# Set the configuration
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controller.set_configuration(cluster_config, controller_config)
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# Open device
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print("\nOpening device...")
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if not device.open():
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raise RuntimeError("Failed to open device")
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print("Device opened successfully")
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# Go online - this triggers coldstart
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print("\nGoing online (coldstart will initiate)...")
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if not device.go_online():
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raise RuntimeError("Failed to go online - check bus termination and configuration")
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print("Device online successfully!")
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print("\n" + "=" * 60)
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print("✓ FlexRay network started via COLDSTART")
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print("=" * 60)
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# Transmit test messages on the coldstart key slot
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print("\nTransmitting initial test messages...")
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for i in range(5):
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frame = icsneopy.FlexRayMessage()
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frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
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frame.slotid = base_slot_id # Use the first key slot
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frame.cycle = 0
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frame.cycle_repetition = 1
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frame.channel = icsneopy.FlexRay.Channel.AB
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frame.data = (0xAA, 0xBB, 0xCC, 0xDD, i, i+1, i+2, i+3)
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if device.transmit(frame):
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print(f" ✓ Transmitted message {i+1}")
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else:
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print(f" ✗ Failed to transmit message {i+1}")
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time.sleep(0.1)
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print("\n" + "=" * 60)
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print("Network is now active and will stay alive.")
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print("You can now run transmit/receive examples in another terminal.")
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print("Press Ctrl+C to stop and shut down the network.")
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print("=" * 60)
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# Keep transmitting periodically to maintain network presence
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counter = 0
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try:
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while True:
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frame = icsneopy.FlexRayMessage()
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frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
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frame.slotid = base_slot_id
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frame.cycle = 0
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frame.cycle_repetition = 1
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frame.channel = icsneopy.FlexRay.Channel.AB
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frame.data = (0xCA, 0xFE, 0xBA, 0xBE, counter & 0xFF,
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(counter >> 8) & 0xFF, (counter >> 16) & 0xFF, (counter >> 24) & 0xFF)
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device.transmit(frame)
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counter += 1
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time.sleep(1) # Transmit every second
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except KeyboardInterrupt:
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print("\n\nStopping coldstart node...")
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print("\n✓ Coldstart example completed successfully!")
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finally:
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device.close()
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if __name__ == "__main__":
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flexray_coldstart()
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@@ -0,0 +1,188 @@
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# Basic FlexRay frame reception example using icsneopy library.
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import icsneopy
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import time
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import signal
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import sys
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def get_controller_config(slot_id):
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"""Create a FlexRay controller configuration matching the network.
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Args:
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slot_id: The key slot ID for this node (must be unique per node)
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Returns:
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FlexRay.Controller.Configuration with all parameters set
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Note:
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For passive listening on an existing network, set:
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- key_slot_used_for_startup = False
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- Remove set_allow_coldstart(True) call below
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"""
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config = icsneopy.FlexRay.Controller.Configuration()
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config.accept_startup_range_microticks = 160
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config.allow_halt_due_to_clock = True
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config.allow_passive_to_active_cycle_pairs = 15
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config.cluster_drift_damping = 2
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# Physical channel configuration (Channel A only for this example)
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config.channel_a = True
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config.channel_b = False # Single channel A only
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config.decoding_correction_microticks = 56
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config.delay_compensation_a_microticks = 28
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config.delay_compensation_b_microticks = 28
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config.extern_offset_correction_control = 0
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config.extern_rate_correction_control = 0
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config.extern_offset_correction_microticks = 0
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config.extern_rate_correction_microticks = 0
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# KEY SLOT CONFIGURATION - Critical for FlexRay operation
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config.key_slot_id = slot_id # Must be unique per node
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config.key_slot_only_enabled = False
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config.key_slot_used_for_startup = True # True = participate in coldstart
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config.key_slot_used_for_sync = True # True = synchronize with network
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config.latest_tx_minislot = 226
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config.listen_timeout = 401202
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config.macro_initial_offset_a = 7
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config.macro_initial_offset_b = 7
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config.micro_initial_offset_a = 36
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config.micro_initial_offset_b = 36
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config.micro_per_cycle = 200000
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config.mts_on_a = False
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config.mts_on_b = False
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config.offset_correction_out_microticks = 189
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config.rate_correction_out_microticks = 601
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config.second_key_slot_id = 0
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config.two_key_slot_mode = False
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config.wakeup_pattern = 55
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config.wakeup_on_channel_b = False
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return config
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def get_cluster_config():
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"""Create a FlexRay cluster configuration matching the network."""
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config = icsneopy.FlexRay.Cluster.Configuration()
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config.speed = icsneopy.FlexRay.Cluster.SpeedType.FLEXRAY_BAUDRATE_10M
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config.strobe_point_position = icsneopy.FlexRay.Cluster.SPPType.FLEXRAY_SPP_5
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config.action_point_offset = 4
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config.casr_x_low_max = 64
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config.cold_start_attempts = 8
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config.cycle_duration_micro_sec = 5000
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config.dynamic_slot_idle_phase_minislots = 1
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config.listen_noise_macroticks = 4
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config.macroticks_per_cycle = 5000
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config.macrotick_duration_micro_sec = 1
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config.max_without_clock_correction_fatal = 2
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config.max_without_clock_correction_passive = 2
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config.minislot_action_point_offset_macroticks = 4
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config.minislot_duration_macroticks = 10
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config.network_idle_time_macroticks = 40
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config.network_management_vector_length_bytes = 1
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config.number_of_minislots = 0
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config.number_of_static_slots = 32
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config.offset_correction_start_macroticks = 4991
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config.payload_length_of_static_slot_in_words = 67
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config.static_slot_macroticks = 155
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config.symbol_window_macroticks = 0
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config.symbol_window_action_point_offset_macroticks = 0
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config.sync_frame_id_count_max = 15
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config.transmission_start_sequence_duration_bits = 11
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config.wakeup_rx_idle_bits = 40
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config.wakeup_rx_low_bits = 40
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config.wakeup_rx_window_bits = 301
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config.wakeup_tx_active_bits = 60
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config.wakeup_tx_idle_bits = 180
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return config
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def receive_flexray_frames():
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"""Receive FlexRay frames as passive node with callback handling."""
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devices = icsneopy.find_all_devices()
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if not devices:
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raise RuntimeError("No devices found")
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# Find a device with FlexRay support
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device = None
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for dev in devices:
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if dev.get_extension("FlexRay"):
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device = dev
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break
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if not device:
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raise RuntimeError("No FlexRay-capable device found")
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frame_count = 0
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running = True
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def on_frame(frame):
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nonlocal frame_count
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if isinstance(frame, icsneopy.FlexRayMessage):
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# Only show frames from slot 1 (filter out null frames)
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if frame.slotid == 1:
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frame_count += 1
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# Nice formatted view of the frame
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payload_hex = ' '.join([f'{b:02X}' for b in frame.data[:8]])
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payload_dec = ' '.join([f'{b:3d}' for b in frame.data[:8]])
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print(f"[Frame {frame_count:4d}] Slot: {frame.slotid:2d} | Cycle: {frame.cycle:2d} | "
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f"Channel: {str(frame.channel):10s}")
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print(f" Hex: [{payload_hex}]")
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print(f" Dec: [{payload_dec}]\n")
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def signal_handler(sig, frame):
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nonlocal running
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print("\nShutting down...")
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running = False
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signal.signal(signal.SIGINT, signal_handler)
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signal.signal(signal.SIGTERM, signal_handler)
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frame_filter = icsneopy.MessageFilter(icsneopy.Network.NetID.FLEXRAY_02)
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callback = icsneopy.MessageCallback(on_frame, frame_filter)
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try:
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# Configure FlexRay controller 1 (FLEXRAY_02) as passive node
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controllers = device.get_flexray_controllers()
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if len(controllers) < 2:
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raise RuntimeError("Device needs at least 2 FlexRay controllers")
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controller = controllers[1] # Use controller 1
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cluster_config = get_cluster_config()
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controller_config = get_controller_config(slot_id=2)
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# Enable coldstart so this node transmits and coldstart node sees activity
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controller.set_allow_coldstart(True)
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controller.set_configuration(cluster_config, controller_config)
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controller.set_start_when_going_online(True)
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if not device.open():
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raise RuntimeError("Failed to open device")
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if not device.go_online():
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raise RuntimeError("Failed to go online")
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device.add_message_callback(callback)
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print("="*60)
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print("FlexRay Receive Node - Coldstart Config Loaded")
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print("="*60)
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print(f"Controller: FLEXRAY_02 | Slot ID: 2 | Channel: A")
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print(f"Listening for frames...")
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print(f"Start the transmit script now to begin communication")
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print("="*60)
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print("Press Ctrl+C to stop\n")
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while running:
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time.sleep(0.1)
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print(f"\nTotal frames received: {frame_count}")
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finally:
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device.close()
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if __name__ == "__main__":
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receive_flexray_frames()
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@@ -0,0 +1,218 @@
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# Basic FlexRay frame transmission example using icsneopy library.
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import icsneopy
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import time
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import signal
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import sys
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import random
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def get_controller_config(slot_id, is_coldstart=False):
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"""Create a FlexRay controller configuration matching the network.
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Args:
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slot_id: The key slot ID for this node (must be unique per node)
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is_coldstart: True if this node participates in coldstart
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Returns:
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FlexRay.Controller.Configuration with all parameters set
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"""
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config = icsneopy.FlexRay.Controller.Configuration()
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config.accept_startup_range_microticks = 160
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config.allow_halt_due_to_clock = True
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config.allow_passive_to_active_cycle_pairs = 15
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config.cluster_drift_damping = 2
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# Physical channel configuration (Channel A only for this example)
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config.channel_a = True
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config.channel_b = False # Single channel A only
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config.decoding_correction_microticks = 56
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config.delay_compensation_a_microticks = 28
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config.delay_compensation_b_microticks = 28
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config.extern_offset_correction_control = 0
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config.extern_rate_correction_control = 0
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config.extern_offset_correction_microticks = 0
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config.extern_rate_correction_microticks = 0
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# KEY SLOT CONFIGURATION - Critical for FlexRay operation
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config.key_slot_id = slot_id # Must be unique per node
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config.key_slot_only_enabled = False
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config.key_slot_used_for_startup = is_coldstart # True = coldstart node
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config.key_slot_used_for_sync = is_coldstart # True = provides sync
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|
||||
config.latest_tx_minislot = 226
|
||||
config.listen_timeout = 401202
|
||||
config.macro_initial_offset_a = 7
|
||||
config.macro_initial_offset_b = 7
|
||||
config.micro_initial_offset_a = 36
|
||||
config.micro_initial_offset_b = 36
|
||||
config.micro_per_cycle = 200000
|
||||
config.mts_on_a = False
|
||||
config.mts_on_b = False
|
||||
config.offset_correction_out_microticks = 189
|
||||
config.rate_correction_out_microticks = 601
|
||||
config.second_key_slot_id = 0
|
||||
config.two_key_slot_mode = False
|
||||
config.wakeup_pattern = 55
|
||||
config.wakeup_on_channel_b = False
|
||||
return config
|
||||
|
||||
|
||||
def get_cluster_config():
|
||||
"""Create a FlexRay cluster configuration matching the network.
|
||||
|
||||
All nodes on the FlexRay network must have identical cluster parameters.
|
||||
These define the timing and structure of the FlexRay communication cycle.
|
||||
|
||||
Key parameters:
|
||||
- cycle_duration_micro_sec: 5000 = 5ms cycle time
|
||||
- macroticks_per_cycle: 5000 macroticks per cycle
|
||||
- number_of_static_slots: 32 static slots for guaranteed transmission
|
||||
- payload_length_of_static_slot_in_words: 67 words = 134 bytes max payload
|
||||
|
||||
Returns:
|
||||
FlexRay.Cluster.Configuration with all timing parameters set
|
||||
"""
|
||||
config = icsneopy.FlexRay.Cluster.Configuration()
|
||||
config.speed = icsneopy.FlexRay.Cluster.SpeedType.FLEXRAY_BAUDRATE_10M
|
||||
config.strobe_point_position = icsneopy.FlexRay.Cluster.SPPType.FLEXRAY_SPP_5
|
||||
config.action_point_offset = 4
|
||||
config.casr_x_low_max = 64
|
||||
config.cold_start_attempts = 8
|
||||
config.cycle_duration_micro_sec = 5000
|
||||
config.dynamic_slot_idle_phase_minislots = 1
|
||||
config.listen_noise_macroticks = 4
|
||||
config.macroticks_per_cycle = 5000
|
||||
config.macrotick_duration_micro_sec = 1
|
||||
config.max_without_clock_correction_fatal = 2
|
||||
config.max_without_clock_correction_passive = 2
|
||||
config.minislot_action_point_offset_macroticks = 4
|
||||
config.minislot_duration_macroticks = 10
|
||||
config.network_idle_time_macroticks = 40
|
||||
config.network_management_vector_length_bytes = 1
|
||||
config.number_of_minislots = 0
|
||||
config.number_of_static_slots = 32
|
||||
config.offset_correction_start_macroticks = 4991
|
||||
config.payload_length_of_static_slot_in_words = 67
|
||||
config.static_slot_macroticks = 155
|
||||
config.symbol_window_macroticks = 0
|
||||
config.symbol_window_action_point_offset_macroticks = 0
|
||||
config.sync_frame_id_count_max = 15
|
||||
config.transmission_start_sequence_duration_bits = 11
|
||||
config.wakeup_rx_idle_bits = 40
|
||||
config.wakeup_rx_low_bits = 40
|
||||
config.wakeup_rx_window_bits = 301
|
||||
config.wakeup_tx_active_bits = 60
|
||||
config.wakeup_tx_idle_bits = 180
|
||||
return config
|
||||
|
||||
|
||||
def transmit_flexray_frame():
|
||||
"""Transmit FlexRay frames as coldstart node."""
|
||||
devices = icsneopy.find_all_devices()
|
||||
if not devices:
|
||||
raise RuntimeError("No devices found")
|
||||
|
||||
# Find a device with FlexRay support
|
||||
device = None
|
||||
for dev in devices:
|
||||
if dev.get_extension("FlexRay"):
|
||||
device = dev
|
||||
break
|
||||
|
||||
if not device:
|
||||
raise RuntimeError("No FlexRay-capable device found")
|
||||
|
||||
running = True
|
||||
|
||||
def signal_handler(sig, frame):
|
||||
nonlocal running
|
||||
print("\nShutting down...")
|
||||
running = False
|
||||
|
||||
signal.signal(signal.SIGINT, signal_handler)
|
||||
signal.signal(signal.SIGTERM, signal_handler)
|
||||
|
||||
try:
|
||||
# Configure FlexRay controller 0 (FLEXRAY_01) as coldstart node
|
||||
controllers = device.get_flexray_controllers()
|
||||
if not controllers:
|
||||
raise RuntimeError("Device has no FlexRay controllers")
|
||||
|
||||
controller = controllers[0] # Use controller 0
|
||||
cluster_config = get_cluster_config()
|
||||
controller_config = get_controller_config(slot_id=1, is_coldstart=True)
|
||||
|
||||
# Enable coldstart capability
|
||||
controller.set_allow_coldstart(True)
|
||||
controller.set_configuration(cluster_config, controller_config)
|
||||
controller.set_start_when_going_online(True)
|
||||
|
||||
if not device.open():
|
||||
raise RuntimeError("Failed to open device")
|
||||
|
||||
if not device.go_online():
|
||||
raise RuntimeError("Failed to go online")
|
||||
|
||||
print("="*60)
|
||||
print("FlexRay Transmit Node - Starting Network")
|
||||
print("="*60)
|
||||
print(f"Controller: FLEXRAY_01 | Slot ID: 1 | Channel: A")
|
||||
print(f"Transmitting frames continuously...")
|
||||
print("="*60)
|
||||
print("Press Ctrl+C to stop\n")
|
||||
|
||||
# Transmit frames continuously starting immediately
|
||||
counter = 0
|
||||
sensor_temp = 20.0 # Simulated temperature sensor
|
||||
sensor_pressure = 100.0 # Simulated pressure sensor
|
||||
|
||||
while running:
|
||||
# Create new frame each time (important for FlexRay)
|
||||
frame = icsneopy.FlexRayMessage()
|
||||
frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
|
||||
frame.slotid = 1
|
||||
frame.cycle = 0
|
||||
frame.cycle_repetition = 1
|
||||
frame.channel = icsneopy.FlexRay.Channel.A
|
||||
|
||||
# Simulate realistic sensor data
|
||||
sensor_temp += random.uniform(-0.5, 0.5) # Temperature varies
|
||||
sensor_pressure += random.uniform(-2.0, 2.0) # Pressure varies
|
||||
|
||||
# Pack data: [status, counter, temp_high, temp_low, pressure_high, pressure_low, checksum_placeholder, sequence]
|
||||
status_byte = 0xA0 | (counter % 16) # Status with rolling bits
|
||||
temp_int = int(sensor_temp * 10) & 0xFFFF
|
||||
pressure_int = int(sensor_pressure * 10) & 0xFFFF
|
||||
|
||||
frame.data = (
|
||||
status_byte,
|
||||
counter & 0xFF,
|
||||
(temp_int >> 8) & 0xFF,
|
||||
temp_int & 0xFF,
|
||||
(pressure_int >> 8) & 0xFF,
|
||||
pressure_int & 0xFF,
|
||||
random.randint(0, 255), # Random data
|
||||
(counter >> 8) & 0xFF
|
||||
)
|
||||
|
||||
success = device.transmit(frame)
|
||||
if counter % 100 == 0: # Print every 100th to reduce spam
|
||||
if success:
|
||||
print(f" [TX {counter}] Temp: {sensor_temp:.1f}°C | Pressure: {sensor_pressure:.1f} kPa")
|
||||
else:
|
||||
print(f" Frame {counter}: Failed to transmit")
|
||||
counter += 1
|
||||
time.sleep(0.005) # 5ms per cycle
|
||||
|
||||
print("\nTransmission complete!")
|
||||
|
||||
finally:
|
||||
device.close()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
transmit_flexray_frame()
|
||||
Reference in New Issue
Block a user