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

bindings/python/icsneopy/flexray/flexray.cpp

@@ -64,6 +64,7 @@ void init_extension(pybind11::classh<FlexRayNamespace>& c) {
         .def_readwrite("accept_startup_range_microticks", &Controller::Configuration::AcceptStartupRangeMicroticks)
         .def_readwrite("allow_passive_to_active_cycle_pairs", &Controller::Configuration::AllowPassiveToActiveCyclePairs)
         .def_readwrite("cluster_drift_damping", &Controller::Configuration::ClusterDriftDamping)
+        .def_readwrite("allow_halt_due_to_clock", &Controller::Configuration::AllowHaltDueToClock)
         .def_readwrite("channel_a", &Controller::Configuration::ChannelA)
         .def_readwrite("channel_b", &Controller::Configuration::ChannelB)
         .def_readwrite("decoding_correction_microticks", &Controller::Configuration::DecodingCorrectionMicroticks)
@@ -74,6 +75,7 @@ void init_extension(pybind11::classh<FlexRayNamespace>& c) {
         .def_readwrite("extern_offset_correction_microticks", &Controller::Configuration::ExternOffsetCorrectionMicroticks)
         .def_readwrite("extern_rate_correction_microticks", &Controller::Configuration::ExternRateCorrectionMicroticks)
         .def_readwrite("key_slot_id", &Controller::Configuration::KeySlotID)
+        .def_readwrite("key_slot_only_enabled", &Controller::Configuration::KeySlotOnlyEnabled)
         .def_readwrite("key_slot_used_for_startup", &Controller::Configuration::KeySlotUsedForStartup)
         .def_readwrite("key_slot_used_for_sync", &Controller::Configuration::KeySlotUsedForSync)
         .def_readwrite("latest_tx_minislot", &Controller::Configuration::LatestTxMinislot)
@@ -114,6 +116,7 @@ void init_extension(pybind11::classh<FlexRayNamespace>& c) {
         .def_readwrite("action_point_offset", &Cluster::Configuration::ActionPointOffset)
         .def_readwrite("casr_x_low_max", &Cluster::Configuration::CASRxLowMax)
         .def_readwrite("cold_start_attempts", &Cluster::Configuration::ColdStartAttempts)
+        .def_readwrite("cycle_duration_micro_sec", &Cluster::Configuration::CycleDurationMicroSec)
         .def_readwrite("dynamic_slot_idle_phase_minislots", &Cluster::Configuration::DynamicSlotIdlePhaseMinislots)
         .def_readwrite("listen_noise_macroticks", &Cluster::Configuration::ListenNoiseMacroticks)
         .def_readwrite("macroticks_per_cycle", &Cluster::Configuration::MacroticksPerCycle)
@@ -159,7 +162,8 @@ void init_flexraymessage(pybind11::module_& m) {
         .def_readwrite("sync_frame", &FlexRayMessage::sync)
         .def_readwrite("startup_frame", &FlexRayMessage::startup)
         .def_readwrite("dynamic_frame", &FlexRayMessage::dynamic)
-        .def_readwrite("cycle", &FlexRayMessage::cycle);
+        .def_readwrite("cycle", &FlexRayMessage::cycle)
+        .def_readwrite("cycle_repetition", &FlexRayMessage::cycleRepetition);
 
     //// TODO: Eliminate FlexRayControlMessage class references in controller class and eliminate getStatus function in bindings
 }

docs/icsneopy/flexray_getting_started.rst

@@ -0,0 +1,191 @@
+=======================
+FlexRay Getting Started
+=======================
+
+Prerequisites
+=============
+
+- icsneopy library installed
+- FlexRay hardware device connected (e.g., Fire3 Flexray)
+- Proper FlexRay bus termination (100Ω on each channel end)
+
+Physical Hardware Setup for Two-Node Testing
+---------------------------------------------
+
+For testing the basic transmit and receive examples with a single device:
+
+- Hardware: Device with dual FlexRay controllers (e.g., neoVI FIRE 3 Flexray)
+- Connection: FLEXRAY_01 Channel A looped to FLEXRAY_02 Channel A
+- Termination: 100Ω termination resistors on both ends of the loopback
+- Cable: Use proper FlexRay twisted pair cable (impedance matched)
+
+.. note::
+   The basic transmit/receive examples are configured for this loopback setup
+   where both controllers act as coldstart nodes. For use on an existing 
+   FlexRay network, see the passive monitoring configuration notes in the
+   receive example.
+
+FlexRay Coldstart
+-----------------
+
+FlexRay networks require at least one "coldstart node" to initialize the network timing. 
+The coldstart node is responsible for starting the FlexRay communication cycle.
+
+For a complete standalone coldstart example, see the Additional Examples section below.
+
+Basic Setup
+===========
+
+1. Import the library and find FlexRay device:
+
+.. code-block:: python
+
+   import icsneopy
+
+   devices = icsneopy.find_all_devices()
+   
+   # 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")
+
+2. Configure FlexRay controller:
+
+.. literalinclude:: ../../examples/python/flexray/flexray_transmit_basic.py
+   :language: python
+   :lines: 12-111
+
+3. Open device and go online:
+
+.. code-block:: python
+
+   if not device.open():
+       raise RuntimeError("Failed to open device")
+
+   if not device.go_online():
+       raise RuntimeError("Failed to go online")
+
+Transmitting FlexRay Frames
+============================
+
+This example demonstrates a coldstart node that initiates a FlexRay network
+and transmits simulated sensor data continuously in slot 1.
+
+**Hardware Setup**: FLEXRAY_01 looped to FLEXRAY_02
+
+**Usage**:
+1. Start the receive example first
+2. Start this transmit example second
+3. Network will initialize and frames will be transmitted
+
+.. literalinclude:: ../../examples/python/flexray/flexray_transmit_basic.py
+   :language: python
+   :lines: 113-170
+
+Key Configuration Parameters:
+
+- **slotid**: The FlexRay slot ID for transmission (1-2047 for static segment)
+- **cycle**: The FlexRay cycle number (0-63)
+- **cycle_repetition**: How often the frame repeats (1 = every cycle, 2 = every other cycle)
+- **channel**: Transmission channel (A, B, or AB for both)
+- **key_slot_id**: Must be unique per node on the network
+- **key_slot_used_for_startup**: True for coldstart nodes
+- **key_slot_used_for_sync**: True to provide synchronization frames
+
+Receiving FlexRay Frames
+=========================
+
+This example demonstrates receiving FlexRay frames on FLEXRAY_02 Channel A.
+
+**Hardware Setup**: FLEXRAY_01 looped to FLEXRAY_02
+
+**Configuration Note**: This example is configured with coldstart capability
+for two-node loopback testing. For passive monitoring on an existing FlexRay
+network:
+
+1. Set ``key_slot_used_for_startup = False`` in the controller configuration
+2. Remove the ``controller.set_allow_coldstart(True)`` call
+3. Ensure all cluster parameters match the existing network
+4. The node will sync and receive without transmitting
+
+**Usage**:
+1. Start this receive example first
+2. Start the transmit example second
+3. Frames from slot 1 will be displayed with hex and decimal payload views
+
+.. literalinclude:: ../../examples/python/flexray/flexray_receive_basic.py
+   :language: python
+   :lines: 103-170
+
+FlexRay Coldstart Configuration
+================================
+
+To use the Coldstart example, ensure the following:
+
+Set the Flexray network in neoVI Explorer to Coldstart.
+
+No other nodes should be present on the network during testing.
+
+Nothing connected to Fire3 FlexRay bus.
+
+Critical Coldstart Settings
+----------------------------
+
+.. literalinclude:: ../../examples/python/flexray/flexray_coldstart.py
+   :language: python
+   :lines: 40-48
+
+Configuration Example:
+
+.. literalinclude:: ../../examples/python/flexray/flexray_coldstart.py
+   :language: python
+   :lines: 20-64
+
+Setting Coldstart on Controller:
+
+.. code-block:: python
+
+   controller.set_allow_coldstart(True)
+   controller.set_start_when_going_online(True)
+
+Cleanup and Resource Management
+================================
+
+Always close the device when finished:
+
+.. code-block:: python
+
+   try:
+       # Your FlexRay operations here
+       pass
+   finally:
+       device.close()
+
+See the basic transmit and receive examples for complete implementations.
+
+Additional Examples
+===================
+
+Transmit Basic
+--------------
+
+Complete working example with coldstart node transmitting simulated sensor data.
+
+All example files are available for download:
+
+**Transmit Basic** - Coldstart node transmitting simulated sensor data
+
+:download:`flexray_transmit_basic.py <../../examples/python/flexray/flexray_transmit_basic.py>`
+
+**Receive Basic** - Receiving and displaying FlexRay frames with formatted output
+
+:download:`flexray_receive_basic.py <../../examples/python/flexray/flexray_receive_basic.py>`
+
+**Coldstart** - Standalone coldstart example demonstrating network initialization
+
+:download:`flexray_coldstart.py <../../examples/python/flexray/flexray_coldstart.py>`

docs/icsneopy/index.rst

@@ -7,6 +7,7 @@ icsneopy
 
    can_getting_started
    ethernet_getting_started
+   flexray_getting_started
    examples
    api
    radepsilon

examples/python/flexray/flexray_coldstart.py

@@ -0,0 +1,218 @@
+"""
+FlexRay coldstart example using icsneopy library.
+
+Demonstrates coldstart capability where one FlexRay device can start
+the network without needing other devices connected.
+
+CRITICAL COLDSTART REQUIREMENTS:
+1. key_slot_used_for_startup = True
+2. key_slot_used_for_sync = True
+3. set_allow_coldstart(True)
+4. Each controller needs a unique key_slot_id
+5. Proper bus termination (required for FlexRay)
+"""
+
+import icsneopy
+import time
+
+
+def get_coldstart_controller_config(slot_id):
+	"""
+	Create FlexRay controller configuration for COLDSTART.
+	
+	The three critical settings for coldstart are marked below.
+	"""
+	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
+	config.channel_a = True
+	config.channel_b = True
+	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
+	
+	# CRITICAL FOR COLDSTART: Set the key slot ID
+	config.key_slot_id = slot_id
+	
+	config.key_slot_only_enabled = False
+	
+	# CRITICAL FOR COLDSTART: Enable startup and sync on key slot
+	config.key_slot_used_for_startup = True  # Required for coldstart
+	config.key_slot_used_for_sync = True     # Required for coldstart
+	
+	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 FlexRay cluster configuration."""
+	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 flexray_coldstart():
+	"""Perform FlexRay coldstart operation."""
+	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")
+
+	print(f"Using device: {device.get_product_name()} {device.get_serial()}")
+
+	try:
+		# Get FlexRay controllers
+		controllers = device.get_flexray_controllers()
+		if not controllers:
+			raise RuntimeError("Device has no FlexRay controllers")
+
+		print(f"Device has {len(controllers)} FlexRay controller(s)")
+
+		# Configure controllers for coldstart
+		cluster_config = get_cluster_config()
+		base_slot_id = 1
+
+		for i, controller in enumerate(controllers):
+			slot_id = base_slot_id + i
+			controller_config = get_coldstart_controller_config(slot_id)
+
+			print(f"\nConfiguring controller {i} for COLDSTART:")
+			print(f"  Key Slot ID: {slot_id}")
+			print(f"  Key Slot Used for Startup: {controller_config.key_slot_used_for_startup}")
+			print(f"  Key Slot Used for Sync: {controller_config.key_slot_used_for_sync}")
+
+			# CRITICAL FOR COLDSTART: Enable coldstart capability
+			controller.set_allow_coldstart(True)
+			print(f"  Allow Coldstart: True")
+
+			# Configure to start when going online
+			controller.set_start_when_going_online(True)
+
+			# Set the configuration
+			controller.set_configuration(cluster_config, controller_config)
+
+		# Open device
+		print("\nOpening device...")
+		if not device.open():
+			raise RuntimeError("Failed to open device")
+		print("Device opened successfully")
+
+		# Go online - this triggers coldstart
+		print("\nGoing online (coldstart will initiate)...")
+		if not device.go_online():
+			raise RuntimeError("Failed to go online - check bus termination and configuration")
+
+		print("Device online successfully!")
+		print("\n" + "=" * 60)
+		print("✓ FlexRay network started via COLDSTART")
+		print("=" * 60)
+
+		# Transmit test messages on the coldstart key slot
+		print("\nTransmitting initial test messages...")
+		for i in range(5):
+			frame = icsneopy.FlexRayMessage()
+			frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
+			frame.slotid = base_slot_id  # Use the first key slot
+			frame.cycle = 0
+			frame.cycle_repetition = 1
+			frame.channel = icsneopy.FlexRay.Channel.AB
+			frame.data = (0xAA, 0xBB, 0xCC, 0xDD, i, i+1, i+2, i+3)
+
+			if device.transmit(frame):
+				print(f"  ✓ Transmitted message {i+1}")
+			else:
+				print(f"  ✗ Failed to transmit message {i+1}")
+
+			time.sleep(0.1)
+
+		print("\n" + "=" * 60)
+		print("Network is now active and will stay alive.")
+		print("You can now run transmit/receive examples in another terminal.")
+		print("Press Ctrl+C to stop and shut down the network.")
+		print("=" * 60)
+
+		# Keep transmitting periodically to maintain network presence
+		counter = 0
+		try:
+			while True:
+				frame = icsneopy.FlexRayMessage()
+				frame.network = icsneopy.Network(icsneopy.Network.NetID.FLEXRAY_01)
+				frame.slotid = base_slot_id
+				frame.cycle = 0
+				frame.cycle_repetition = 1
+				frame.channel = icsneopy.FlexRay.Channel.AB
+				frame.data = (0xCA, 0xFE, 0xBA, 0xBE, counter & 0xFF, 
+				             (counter >> 8) & 0xFF, (counter >> 16) & 0xFF, (counter >> 24) & 0xFF)
+				
+				device.transmit(frame)
+				counter += 1
+				time.sleep(1)  # Transmit every second
+		except KeyboardInterrupt:
+			print("\n\nStopping coldstart node...")
+
+		print("\n✓ Coldstart example completed successfully!")
+
+	finally:
+		device.close()
+
+
+if __name__ == "__main__":
+	flexray_coldstart()

examples/python/flexray/flexray_receive_basic.py

@@ -0,0 +1,188 @@
+
+# Basic FlexRay frame reception example using icsneopy library.
+
+
+import icsneopy
+import time
+import signal
+import sys
+
+
+def get_controller_config(slot_id):
+	"""Create a FlexRay controller configuration matching the network.
+	
+	Args:
+		slot_id: The key slot ID for this node (must be unique per node)
+		
+	Returns:
+		FlexRay.Controller.Configuration with all parameters set
+		
+	Note:
+		For passive listening on an existing network, set:
+		- key_slot_used_for_startup = False
+		- Remove set_allow_coldstart(True) call below
+	"""
+	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 = True   # True = participate in coldstart
+	config.key_slot_used_for_sync = True      # True = synchronize with network
+	
+	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."""
+	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 receive_flexray_frames():
+	"""Receive FlexRay frames as passive node with callback handling."""
+	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")
+
+	frame_count = 0
+	running = True
+
+	def on_frame(frame):
+		nonlocal frame_count
+		if isinstance(frame, icsneopy.FlexRayMessage):
+			# Only show frames from slot 1 (filter out null frames)
+			if frame.slotid == 1:
+				frame_count += 1
+				# Nice formatted view of the frame
+				payload_hex = ' '.join([f'{b:02X}' for b in frame.data[:8]])
+				payload_dec = ' '.join([f'{b:3d}' for b in frame.data[:8]])
+				print(f"[Frame {frame_count:4d}] Slot: {frame.slotid:2d} | Cycle: {frame.cycle:2d} | "
+					  f"Channel: {str(frame.channel):10s}")
+				print(f"              Hex: [{payload_hex}]")
+				print(f"              Dec: [{payload_dec}]\n")
+
+	def signal_handler(sig, frame):
+		nonlocal running
+		print("\nShutting down...")
+		running = False
+
+	signal.signal(signal.SIGINT, signal_handler)
+	signal.signal(signal.SIGTERM, signal_handler)
+
+	frame_filter = icsneopy.MessageFilter(icsneopy.Network.NetID.FLEXRAY_02)
+	callback = icsneopy.MessageCallback(on_frame, frame_filter)
+
+	try:
+		# Configure FlexRay controller 1 (FLEXRAY_02) as passive node
+		controllers = device.get_flexray_controllers()
+		if len(controllers) < 2:
+			raise RuntimeError("Device needs at least 2 FlexRay controllers")
+
+		controller = controllers[1]  # Use controller 1
+		cluster_config = get_cluster_config()
+		controller_config = get_controller_config(slot_id=2)
+
+		# Enable coldstart so this node transmits and coldstart node sees activity
+		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")
+
+		device.add_message_callback(callback)
+		print("="*60)
+		print("FlexRay Receive Node - Coldstart Config Loaded")
+		print("="*60)
+		print(f"Controller: FLEXRAY_02 | Slot ID: 2 | Channel: A")
+		print(f"Listening for frames...")
+		print(f"Start the transmit script now to begin communication")
+		print("="*60)
+		print("Press Ctrl+C to stop\n")
+
+		while running:
+			time.sleep(0.1)
+
+		print(f"\nTotal frames received: {frame_count}")
+
+	finally:
+		device.close()
+
+
+if __name__ == "__main__":
+	receive_flexray_frames()

examples/python/flexray/flexray_transmit_basic.py

@@ -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()