Add non-ISO CANFD support to kvaser (#1752)

* Add basic non-iso support

* Update test_kvaser.py

Add unit test

* Update test_kvaser.py

Black to pass premerge checklist

* Made code changes

New enum for non-iso mode
Documentation sections fixes
Test update

* Update bus.py

Black cleanup

Author: jacobschaer

can/bus.py

@@ -44,7 +44,8 @@ class CanProtocol(Enum):
     """The CAN protocol type supported by a :class:`can.BusABC` instance"""
 
     CAN_20 = auto()
-    CAN_FD = auto()
+    CAN_FD = auto()  # ISO Mode
+    CAN_FD_NON_ISO = auto()
     CAN_XL = auto()
 
 

can/interfaces/kvaser/canlib.py

@@ -428,6 +428,10 @@ def __init__(
             computer, set this to True or set single_handle to True.
         :param bool fd:
             If CAN-FD frames should be supported.
+        :param bool fd_non_iso:
+            Open the channel in Non-ISO (Bosch) FD mode. Only applies for FD buses.
+            This changes the handling of the stuff-bit counter and the CRC. Defaults
+            to False (ISO mode)
         :param bool exclusive:
             Don't allow sharing of this CANlib channel.
         :param bool override_exclusive:
@@ -453,6 +457,7 @@ def __init__(
         accept_virtual = kwargs.get("accept_virtual", True)
         fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False)
         data_bitrate = kwargs.get("data_bitrate", None)
+        fd_non_iso = kwargs.get("fd_non_iso", False)
 
         try:
             channel = int(channel)
@@ -461,7 +466,11 @@ def __init__(
 
         self.channel = channel
         self.single_handle = single_handle
-        self._can_protocol = CanProtocol.CAN_FD if fd else CanProtocol.CAN_20
+        self._can_protocol = CanProtocol.CAN_20
+        if fd_non_iso:
+            self._can_protocol = CanProtocol.CAN_FD_NON_ISO
+        elif fd:
+            self._can_protocol = CanProtocol.CAN_FD
 
         log.debug("Initialising bus instance")
         num_channels = ctypes.c_int(0)
@@ -482,7 +491,10 @@ def __init__(
         if accept_virtual:
             flags |= canstat.canOPEN_ACCEPT_VIRTUAL
         if fd:
-            flags |= canstat.canOPEN_CAN_FD
+            if fd_non_iso:
+                flags |= canstat.canOPEN_CAN_FD_NONISO
+            else:
+                flags |= canstat.canOPEN_CAN_FD
 
         log.debug("Creating read handle to bus channel: %s", channel)
         self._read_handle = canOpenChannel(channel, flags)

doc/interfaces/pcan.rst

@@ -37,7 +37,14 @@ Here is an example configuration file for using `PCAN-USB <https://www.peak-syst
 ``bitrate`` (default ``500000``)
  Channel bitrate
 
+ISO/Non-ISO CAN FD Mode
+~~~~~~~~~~~~~~~~~~~~~~~
 
+The PCAN basic driver doesn't presently allow toggling the ISO/Non-ISO FD modes directly.
+The default mode is stored on the device and can be controlled using the PCANView Windows application.
+See: https://forum.peak-system.com/viewtopic.php?t=6496
+
+This restriction does not apply to the socket-can driver.
 
 .. _pcandoc linux installation:
 

doc/interfaces/socketcan.rst

@@ -284,6 +284,11 @@ to ensure usage of SocketCAN Linux API. The most important differences are:
     :members:
     :inherited-members:
 
+ISO/Non-ISO CAN FD Mode
+-----------------------
+
+Socket CAN devices can (for supported hardware) control ISO vs Non-ISO FD during creation with the ``ip`` command using the ``fd-non-iso`` flag.
+
 .. External references
 
 .. _Linux kernel docs: https://www.kernel.org/doc/Documentation/networking/can.txt

test/test_kvaser.py

@@ -196,6 +196,7 @@ def test_can_timing(self):
     def test_canfd_timing(self):
         canlib.canSetBusParams.reset_mock()
         canlib.canSetBusParamsFd.reset_mock()
+        canlib.canOpenChannel.reset_mock()
         timing = can.BitTimingFd.from_bitrate_and_segments(
             f_clock=80_000_000,
             nom_bitrate=500_000,
@@ -210,6 +211,32 @@ def test_canfd_timing(self):
         can.Bus(channel=0, interface="kvaser", timing=timing)
         canlib.canSetBusParams.assert_called_once_with(0, 500_000, 68, 11, 10, 1, 0)
         canlib.canSetBusParamsFd.assert_called_once_with(0, 2_000_000, 10, 9, 8)
+        canlib.canOpenChannel.assert_called_with(
+            0, constants.canOPEN_CAN_FD | constants.canOPEN_ACCEPT_VIRTUAL
+        )
+
+    def test_canfd_non_iso(self):
+        canlib.canSetBusParams.reset_mock()
+        canlib.canSetBusParamsFd.reset_mock()
+        canlib.canOpenChannel.reset_mock()
+        timing = can.BitTimingFd.from_bitrate_and_segments(
+            f_clock=80_000_000,
+            nom_bitrate=500_000,
+            nom_tseg1=68,
+            nom_tseg2=11,
+            nom_sjw=10,
+            data_bitrate=2_000_000,
+            data_tseg1=10,
+            data_tseg2=9,
+            data_sjw=8,
+        )
+        bus = can.Bus(channel=0, interface="kvaser", timing=timing, fd_non_iso=True)
+        self.assertEqual(bus.protocol, can.CanProtocol.CAN_FD_NON_ISO)
+        canlib.canSetBusParams.assert_called_once_with(0, 500_000, 68, 11, 10, 1, 0)
+        canlib.canSetBusParamsFd.assert_called_once_with(0, 2_000_000, 10, 9, 8)
+        canlib.canOpenChannel.assert_called_with(
+            0, constants.canOPEN_CAN_FD_NONISO | constants.canOPEN_ACCEPT_VIRTUAL
+        )
 
     def test_canfd_nondefault_data_bitrate(self):
         canlib.canSetBusParams.reset_mock()