Plans for CAN-FD support

[jwbonner]

In our testing with Phoenix 6 on a CAN bus with only CAN-FD capable devices, it seems like the native SystemCore CAN buses are still running as CAN 2.0 as far as we can tell (we can't get anywhere close to the expected CAN-FD bandwidth, and the average packet size is almost exactly 8). We haven't tried any manual configuration of the CAN interfaces to switch them to CAN FD; I presume that at least in the long term that type of lower-level configuration won't be necessary.

I don't have any insight into whether the limiting factor here is related to the OS, Phoenix, or user error, but we're certainly wondering what the current status and future plans are for CAN-FD support. Is this something that is meant to be supported on the current version? Should we expect it to be supported in the future?

[Kevin-OConnor]

You are correct that the CAN buses are currently 2.0 only. I don't expect trying to configure manually is particularly easy to do/likely to work with CTR devices, they currently use a different datarate and proprietary bit timings for the CAN-FD in CANivore. The hardware is 8Mbit FD capable and FIRST and LL are still working with folks on how best to utilize that without introducing too many user footguns.