189 lines
6.0 KiB
Python
189 lines
6.0 KiB
Python
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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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