Expand Up @@ -10,11 +10,13 @@ import logging import sys import time from typing import Optional, Union
from can import BusABC, CanProtocol, Message from can.util import time_perfcounter_correlation from can import BitTiming, BitTimingFd, BusABC, CanProtocol, Message from can.exceptions import CanError, CanInitializationError, CanOperationError from can.typechecking import CanFilters from can.util import check_or_adjust_timing_clock, time_perfcounter_correlation
from ...exceptions import CanError, CanInitializationError, CanOperationError from . import constants as canstat from . import structures
Expand Down Expand Up @@ -199,6 +201,17 @@ def __check_bus_handle_validity(handle, function, arguments): errcheck=__check_status_initialization, )
canSetBusParamsC200 = __get_canlib_function( "canSetBusParamsC200", argtypes=[ c_canHandle, ctypes.c_byte, ctypes.c_byte, ], restype=canstat.c_canStatus, errcheck=__check_status_initialization, )
canSetBusParamsFd = __get_canlib_function( "canSetBusParamsFd", argtypes=[ Expand Down Expand Up @@ -360,7 +373,13 @@ class KvaserBus(BusABC): The CAN Bus implemented for the Kvaser interface. """
def __init__(self, channel, can_filters=None, **kwargs): def __init__( self, channel: int, can_filters: Optional[CanFilters] = None, timing: Optional[Union[BitTiming, BitTimingFd]] = None, **kwargs, ): """ :param int channel: The Channel id to create this bus with. Expand All @@ -370,6 +389,12 @@ def __init__(self, channel, can_filters=None, **kwargs):
Backend Configuration
:param timing: An instance of :class:`~can.BitTiming` or :class:`~can.BitTimingFd` to specify the bit timing parameters for the Kvaser interface. If provided, it takes precedence over the all other timing-related parameters. Note that the `f_clock` property of the `timing` instance must be 16_000_000 (16MHz) for standard CAN or 80_000_000 (80MHz) for CAN FD. :param int bitrate: Bitrate of channel in bit/s :param bool accept_virtual: Expand Down Expand Up @@ -427,7 +452,7 @@ def __init__(self, channel, can_filters=None, **kwargs): exclusive = kwargs.get("exclusive", False) override_exclusive = kwargs.get("override_exclusive", False) accept_virtual = kwargs.get("accept_virtual", True) fd = kwargs.get("fd", False) fd = isinstance(timing, BitTimingFd) if timing else kwargs.get("fd", False) data_bitrate = kwargs.get("data_bitrate", None)
try: Expand Down Expand Up @@ -468,22 +493,43 @@ def __init__(self, channel, can_filters=None, **kwargs): ctypes.byref(ctypes.c_long(TIMESTAMP_RESOLUTION)), 4, )
if fd: if "tseg1" not in kwargs and bitrate in BITRATE_FD: # Use predefined bitrate for arbitration bitrate = BITRATE_FD[bitrate] if data_bitrate in BITRATE_FD: # Use predefined bitrate for data data_bitrate = BITRATE_FD[data_bitrate] elif not data_bitrate: # Use same bitrate for arbitration and data phase data_bitrate = bitrate canSetBusParamsFd(self._read_handle, data_bitrate, tseg1, tseg2, sjw) if isinstance(timing, BitTimingFd): timing = check_or_adjust_timing_clock(timing, [80_000_000]) canSetBusParams( self._read_handle, timing.nom_bitrate, timing.nom_tseg1, timing.nom_tseg2, timing.nom_sjw, 1, 0, ) canSetBusParamsFd( self._read_handle, timing.data_bitrate, timing.data_tseg1, timing.data_tseg2, timing.data_sjw, ) elif isinstance(timing, BitTiming): timing = check_or_adjust_timing_clock(timing, [16_000_000]) canSetBusParamsC200(self._read_handle, timing.btr0, timing.btr1) else: if "tseg1" not in kwargs and bitrate in BITRATE_OBJS: bitrate = BITRATE_OBJS[bitrate] canSetBusParams(self._read_handle, bitrate, tseg1, tseg2, sjw, no_samp, 0) if fd: if "tseg1" not in kwargs and bitrate in BITRATE_FD: # Use predefined bitrate for arbitration bitrate = BITRATE_FD[bitrate] if data_bitrate in BITRATE_FD: # Use predefined bitrate for data data_bitrate = BITRATE_FD[data_bitrate] elif not data_bitrate: # Use same bitrate for arbitration and data phase data_bitrate = bitrate canSetBusParamsFd(self._read_handle, data_bitrate, tseg1, tseg2, sjw) else: if "tseg1" not in kwargs and bitrate in BITRATE_OBJS: bitrate = BITRATE_OBJS[bitrate] canSetBusParams(self._read_handle, bitrate, tseg1, tseg2, sjw, no_samp, 0)
# By default, use local echo if single handle is used (see #160) local_echo = single_handle or receive_own_messages Expand Down