Device: FlexRay: Add additional configuration options for Controller and Cluster

2026-08-05 01:18:36 +02:00 · 2026-01-30 13:06:39 -05:00
parent 5f16adc103
commit 6a32823a0f
6 changed files with 821 additions and 1 deletions
@@ -0,0 +1,218 @@
+
+# Basic FlexRay frame transmission example using icsneopy library.
+
+
+import icsneopy
+import time
+import signal
+import sys
+import random
+
+
+def get_controller_config(slot_id, is_coldstart=False):
+	"""Create a FlexRay controller configuration matching the network.
+	
+	Args:
+		slot_id: The key slot ID for this node (must be unique per node)
+		is_coldstart: True if this node participates in coldstart
+		
+	Returns:
+		FlexRay.Controller.Configuration with all parameters set
+	"""
+	config = icsneopy.FlexRay.Controller.Configuration()
+	config.accept_startup_range_microticks = 160
+	config.allow_halt_due_to_clock = True
+	config.allow_passive_to_active_cycle_pairs = 15
+	config.cluster_drift_damping = 2
+	
+	# Physical channel configuration (Channel A only for this example)
+	config.channel_a = True
+	config.channel_b = False  # Single channel A only
+	
+	config.decoding_correction_microticks = 56
+	config.delay_compensation_a_microticks = 28
+	config.delay_compensation_b_microticks = 28
+	config.extern_offset_correction_control = 0
+	config.extern_rate_correction_control = 0
+	config.extern_offset_correction_microticks = 0
+	config.extern_rate_correction_microticks = 0
+	
+	# KEY SLOT CONFIGURATION - Critical for FlexRay operation
+	config.key_slot_id = slot_id  # Must be unique per node
+	config.key_slot_only_enabled = False
+	config.key_slot_used_for_startup = is_coldstart  # True = coldstart node
+	config.key_slot_used_for_sync = is_coldstart     # True = provides sync
+	
+	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()