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Merge pull request #1144 from felixn/etas
Add ETAS interface
2 parents cee2d78 + 5ff0f15 commit af0d832

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‎CONTRIBUTORS.txt

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@@ -29,3 +29,4 @@ Jan Goeteyn
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Lear Corporation
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Nick Black <[email protected]>
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Francisco Javier Burgos Macia
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Felix Nieuwenhuizen <[email protected]>

‎can/interfaces/__init__.py

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@@ -25,6 +25,7 @@
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"gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"),
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"nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"),
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"neousys": ("can.interfaces.neousys", "NeousysBus"),
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"etas": ("can.interfaces.etas", "EtasBus"),
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"socketcand": ("can.interfaces.socketcand", "SocketCanDaemonBus"),
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}
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‎can/interfaces/etas/__init__.py

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@@ -0,0 +1,316 @@
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import ctypes
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import time
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from typing import Dict, List, Optional, Tuple
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import can
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from ...exceptions import CanInitializationError
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from .boa import *
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class EtasBus(can.BusABC):
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def __init__(
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self,
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channel: str,
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can_filters: Optional[can.typechecking.CanFilters] = None,
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receive_own_messages: bool = False,
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bitrate: int = 1000000,
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fd: bool = True,
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data_bitrate: int = 2000000,
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**kwargs: object,
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):
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self.receive_own_messages = receive_own_messages
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nodeRange = CSI_NodeRange(CSI_NODE_MIN, CSI_NODE_MAX)
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self.tree = ctypes.POINTER(CSI_Tree)()
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CSI_CreateProtocolTree(ctypes.c_char_p(b""), nodeRange, ctypes.byref(self.tree))
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oci_can_v = BOA_Version(1, 4, 0, 0)
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self.ctrl = OCI_ControllerHandle()
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OCI_CreateCANControllerNoSearch(
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channel.encode(),
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ctypes.byref(oci_can_v),
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self.tree,
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ctypes.byref(self.ctrl),
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)
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ctrlConf = OCI_CANConfiguration()
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ctrlConf.baudrate = bitrate
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ctrlConf.samplePoint = 80
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ctrlConf.samplesPerBit = OCI_CAN_THREE_SAMPLES_PER_BIT
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ctrlConf.BTL_Cycles = 10
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ctrlConf.SJW = 1
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ctrlConf.syncEdge = OCI_CAN_SINGLE_SYNC_EDGE
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ctrlConf.physicalMedia = OCI_CAN_MEDIA_HIGH_SPEED
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if receive_own_messages:
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ctrlConf.selfReceptionMode = OCI_SELF_RECEPTION_ON
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else:
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ctrlConf.selfReceptionMode = OCI_SELF_RECEPTION_OFF
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ctrlConf.busParticipationMode = OCI_BUSMODE_ACTIVE
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if fd:
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ctrlConf.canFDEnabled = True
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ctrlConf.canFDConfig.dataBitRate = data_bitrate
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ctrlConf.canFDConfig.dataBTL_Cycles = 10
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ctrlConf.canFDConfig.dataSamplePoint = 80
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ctrlConf.canFDConfig.dataSJW = 1
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ctrlConf.canFDConfig.flags = 0
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ctrlConf.canFDConfig.canFdTxConfig = OCI_CANFDTX_USE_CAN_AND_CANFD_FRAMES
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ctrlConf.canFDConfig.canFdRxConfig.canRxMode = (
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OCI_CAN_RXMODE_CAN_FRAMES_USING_CAN_MESSAGE
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)
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ctrlConf.canFDConfig.canFdRxConfig.canFdRxMode = (
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OCI_CANFDRXMODE_CANFD_FRAMES_USING_CANFD_MESSAGE
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)
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ctrlProp = OCI_CANControllerProperties()
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ctrlProp.mode = OCI_CONTROLLER_MODE_RUNNING
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ec = OCI_OpenCANController(
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self.ctrl, ctypes.byref(ctrlConf), ctypes.byref(ctrlProp)
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)
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if ec != 0x0 and ec != 0x40004000: # accept BOA_WARN_PARAM_ADAPTED
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raise CanInitializationError(
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f"OCI_OpenCANController failed with error 0x{ec:X}"
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)
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# RX
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rxQConf = OCI_CANRxQueueConfiguration()
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rxQConf.onFrame.function = ctypes.cast(None, OCI_CANRxCallbackFunctionSingleMsg)
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rxQConf.onFrame.userData = None
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rxQConf.onEvent.function = ctypes.cast(None, OCI_CANRxCallbackFunctionSingleMsg)
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rxQConf.onEvent.userData = None
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if receive_own_messages:
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rxQConf.selfReceptionMode = OCI_SELF_RECEPTION_ON
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else:
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rxQConf.selfReceptionMode = OCI_SELF_RECEPTION_OFF
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self.rxQueue = OCI_QueueHandle()
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OCI_CreateCANRxQueue(
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self.ctrl, ctypes.byref(rxQConf), ctypes.byref(self.rxQueue)
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)
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self._oci_filters = None
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self.filters = can_filters
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# TX
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txQConf = OCI_CANTxQueueConfiguration()
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txQConf.reserved = 0
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self.txQueue = OCI_QueueHandle()
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OCI_CreateCANTxQueue(
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self.ctrl, ctypes.byref(txQConf), ctypes.byref(self.txQueue)
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)
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# Common
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timerCapabilities = OCI_TimerCapabilities()
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OCI_GetTimerCapabilities(self.ctrl, ctypes.byref(timerCapabilities))
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self.tickFrequency = timerCapabilities.tickFrequency # clock ticks per second
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# all timestamps are hardware timestamps relative to the CAN device powerup
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# calculate an offset to make them relative to epoch
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now = OCI_Time()
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OCI_GetTimerValue(self.ctrl, ctypes.byref(now))
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self.timeOffset = time.time() - (float(now.value) / self.tickFrequency)
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self.channel_info = channel
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def _recv_internal(
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self, timeout: Optional[float]
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) -> Tuple[Optional[can.Message], bool]:
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ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)()
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ociMsg = OCI_CANMessageEx()
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ociMsgs[0] = ctypes.pointer(ociMsg)
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count = ctypes.c_uint32()
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if timeout is not None: # wait for specified time
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t = OCI_Time(round(timeout * self.tickFrequency))
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else: # wait indefinitely
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t = OCI_NO_TIME
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OCI_ReadCANDataEx(
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self.rxQueue,
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t,
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ociMsgs,
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1,
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ctypes.byref(count),
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None,
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)
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msg = None
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if count.value != 0:
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if ociMsg.type == OCI_CANFDRX_MESSAGE.value:
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ociRxMsg = ociMsg.data.canFDRxMessage
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msg = can.Message(
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timestamp=float(ociRxMsg.timeStamp) / self.tickFrequency
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+ self.timeOffset,
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arbitration_id=ociRxMsg.frameID,
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is_extended_id=bool(ociRxMsg.flags & OCI_CAN_MSG_FLAG_EXTENDED),
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is_remote_frame=bool(
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ociRxMsg.flags & OCI_CAN_MSG_FLAG_REMOTE_FRAME
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),
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# is_error_frame=False,
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# channel=None,
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dlc=ociRxMsg.size,
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data=ociRxMsg.data[0 : ociRxMsg.size],
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is_fd=True,
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is_rx=not bool(ociRxMsg.flags & OCI_CAN_MSG_FLAG_SELFRECEPTION),
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bitrate_switch=bool(
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ociRxMsg.flags & OCI_CAN_MSG_FLAG_FD_DATA_BIT_RATE
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),
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# error_state_indicator=False,
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# check=False,
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)
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elif ociMsg.type == OCI_CAN_RX_MESSAGE.value:
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ociRxMsg = ociMsg.data.rxMessage
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msg = can.Message(
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timestamp=float(ociRxMsg.timeStamp) / self.tickFrequency
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+ self.timeOffset,
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arbitration_id=ociRxMsg.frameID,
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is_extended_id=bool(ociRxMsg.flags & OCI_CAN_MSG_FLAG_EXTENDED),
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is_remote_frame=bool(
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ociRxMsg.flags & OCI_CAN_MSG_FLAG_REMOTE_FRAME
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),
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# is_error_frame=False,
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# channel=None,
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dlc=ociRxMsg.dlc,
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data=ociRxMsg.data[0 : ociRxMsg.dlc],
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# is_fd=False,
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is_rx=not bool(ociRxMsg.flags & OCI_CAN_MSG_FLAG_SELFRECEPTION),
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# bitrate_switch=False,
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# error_state_indicator=False,
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# check=False,
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)
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return (msg, True)
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def send(self, msg: can.Message, timeout: Optional[float] = None) -> None:
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ociMsgs = (ctypes.POINTER(OCI_CANMessageEx) * 1)()
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ociMsg = OCI_CANMessageEx()
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ociMsgs[0] = ctypes.pointer(ociMsg)
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if msg.is_fd:
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ociMsg.type = OCI_CANFDTX_MESSAGE
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ociTxMsg = ociMsg.data.canFDTxMessage
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ociTxMsg.size = msg.dlc
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else:
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ociMsg.type = OCI_CAN_TX_MESSAGE
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ociTxMsg = ociMsg.data.txMessage
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ociTxMsg.dlc = msg.dlc
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# set fields common to CAN / CAN-FD
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ociTxMsg.frameID = msg.arbitration_id
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ociTxMsg.flags = 0
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if msg.is_extended_id:
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ociTxMsg.flags |= OCI_CAN_MSG_FLAG_EXTENDED
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if msg.is_remote_frame:
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ociTxMsg.flags |= OCI_CAN_MSG_FLAG_REMOTE_FRAME
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ociTxMsg.data = tuple(msg.data)
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if msg.is_fd:
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ociTxMsg.flags |= OCI_CAN_MSG_FLAG_FD_DATA
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if msg.bitrate_switch:
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ociTxMsg.flags |= OCI_CAN_MSG_FLAG_FD_DATA_BIT_RATE
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OCI_WriteCANDataEx(self.txQueue, OCI_NO_TIME, ociMsgs, 1, None)
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def _apply_filters(self, filters: Optional[can.typechecking.CanFilters]) -> None:
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if self._oci_filters:
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OCI_RemoveCANFrameFilterEx(self.rxQueue, self._oci_filters, 1)
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# "accept all" filter
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if filters is None:
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filters = [{"can_id": 0x0, "can_mask": 0x0}]
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self._oci_filters = (ctypes.POINTER(OCI_CANRxFilterEx) * len(filters))()
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for i, filter in enumerate(filters):
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f = OCI_CANRxFilterEx()
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f.frameIDValue = filter["can_id"]
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f.frameIDMask = filter["can_mask"]
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f.tag = 0
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f.flagsValue = 0
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if self.receive_own_messages:
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# mask out the SR bit, i.e. ignore the bit -> receive all
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f.flagsMask = 0
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else:
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# enable the SR bit in the mask. since the bit is 0 in flagsValue -> do not self-receive
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f.flagsMask = OCI_CAN_MSG_FLAG_SELFRECEPTION
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if filter.get("extended"):
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f.flagsValue |= OCI_CAN_MSG_FLAG_EXTENDED
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f.flagsMask |= OCI_CAN_MSG_FLAG_EXTENDED
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self._oci_filters[i].contents = f
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OCI_AddCANFrameFilterEx(self.rxQueue, self._oci_filters, len(self._oci_filters))
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def flush_tx_buffer(self) -> None:
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OCI_ResetQueue(self.txQueue)
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def shutdown(self) -> None:
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# Cleanup TX
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if self.txQueue:
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OCI_DestroyCANTxQueue(self.txQueue)
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self.txQueue = None
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# Cleanup RX
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if self.rxQueue:
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OCI_DestroyCANRxQueue(self.rxQueue)
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self.rxQueue = None
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# Cleanup common
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if self.ctrl:
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OCI_CloseCANController(self.ctrl)
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OCI_DestroyCANController(self.ctrl)
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self.ctrl = None
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if self.tree:
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CSI_DestroyProtocolTree(self.tree)
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self.tree = None
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@property
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def state(self) -> can.BusState:
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status = OCI_CANControllerStatus()
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OCI_GetCANControllerStatus(self.ctrl, ctypes.byref(status))
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if status.stateCode & OCI_CAN_STATE_ACTIVE:
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return can.BusState.ACTIVE
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elif status.stateCode & OCI_CAN_STATE_PASSIVE:
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return can.BusState.PASSIVE
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@state.setter
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def state(self, new_state: can.BusState) -> None:
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# disabled, OCI_AdaptCANConfiguration does not allow changing the bus mode
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# if new_state == can.BusState.ACTIVE:
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# self.ctrlConf.busParticipationMode = OCI_BUSMODE_ACTIVE
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# else:
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# self.ctrlConf.busParticipationMode = OCI_BUSMODE_PASSIVE
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# ec = OCI_AdaptCANConfiguration(self.ctrl, ctypes.byref(self.ctrlConf))
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# if ec != 0x0:
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# raise CanOperationError(f"OCI_AdaptCANConfiguration failed with error 0x{ec:X}")
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raise NotImplementedError("Setting state is not implemented.")
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def _detect_available_configs() -> List[can.typechecking.AutoDetectedConfig]:
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nodeRange = CSI_NodeRange(CSI_NODE_MIN, CSI_NODE_MAX)
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tree = ctypes.POINTER(CSI_Tree)()
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CSI_CreateProtocolTree(ctypes.c_char_p(b""), nodeRange, ctypes.byref(tree))
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nodes: Dict[str, str] = []
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def _findNodes(tree, prefix):
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uri = f"{prefix}/{tree.contents.item.uriName.decode()}"
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if "CAN:" in uri:
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nodes.append({"interface": "etas", "channel": uri})
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elif tree.contents.child:
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_findNodes(
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tree.contents.child,
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f"{prefix}/{tree.contents.item.uriName.decode()}",
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)
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if tree.contents.sibling:
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_findNodes(tree.contents.sibling, prefix)
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_findNodes(tree, "ETAS:/")
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CSI_DestroyProtocolTree(tree)
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return nodes

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