Channel

openChannel()

canlib.linlib.openChannel(channel_number, channel_type, bps=None)

Open a channel to a LIN interface.

Parameters

• channel_number (int) – The number of the channel. This is the same channel number as used by canlib.openChannel.

• channel_type (ChannelType) – Whether the LIN interface will be a master or slave.

• bps (int or None) – If not None, Channel.setBitrate will be called with this value before the channel is returned.

Returns

(Channel) – The opened channel

Note

For DRV Lin: The cable must be powered and connected to a LAPcan channel. For Kvaser LIN Leaf: The Leaf must be powered from the LIN side.

openMaster()

canlib.linlib.openMaster(channel_number, bps=None)

Open a channel as a master

This function simply calls openChannel with channel_type set to ChannelType.MASTER.

openSlave()

canlib.linlib.openSlave(channel_number, bps=None)

Open a channel as a slave

This function simply calls openChannel with channel_type set to ChannelType.SLAVE.

Channel

class canlib.linlib.Channel(handle)

A LINlib channel

This class is normally instantiated with openMaster or openSlave.

Channels are automatically closed on garbage collection, and can also be used as context managers in which case they close as soon as the context exits.

busOff()

Go bus off

This function deactivates the LIN interface. It will not participate further in the LIN bus traffic.

busOn()

Go bus on

This function activates the LIN interface.

clearMessage(msg_id)

Clear a message buffer for a LIN slave

The message buffer will not answer next time it is polled.

close()

Close this LINlib channel

Closes an open handle to a LIN channel.

Note

It is normally not necessary to call this function directly, as the internal handle is automatically closed when the Channel object is garbage collected.

New in version 1.6.

getCanHandle()

Return the CAN handle given an open LIN handle

getFirmwareVersion()

Retrieve the firmware version from the LIN interface

Returns a FirmwareVersion namedtuple containing boot_version and app_version that are canlib.VersionNumber namedtuples. If only one of these is needed, the return value can be unpacked as such:

boot_ver, app_ver = channel.getFirmwareVersion()

Note

For newer interfaces use getChannelData with ChannelData.CARD_FIRMWARE_REV instead.

The version numbers aren’t valid until Channel.busOn has been called.

The firmware in the LIN interface is divided into two parts, the boot code and the application. The boot code is used only when reprogramming (reflashing) the LIN interface. The application handles all LIN communication.

Version numbers are, since the precambric era, divided into a major version number, a minor version number and a build number. These are usually written like, for example, 3.2.12. Here the major number is 3, the minor number 2 and the build number 12.

read(timeout=0)

Read a message from the LIN interface

If a message is available for reception, linOK is returned. This is a non-blocking call. It waits until a message is received in the LIN interface, or the specified timeout period elapses.

This may return a frame sent by writeMessage or writeWakeup.

Note

This call will also return echoes of what the LIN interface is transmitting with writeMessage. In other words, the LIN interface can hear itself.

Parameters

timeout (int) – Timeout in milliseconds.

Returns

(canlib.LINFrame)

requestMessage(msgid)

Request a message from a slave

This function writes a LIN message header to the LIN bus. A slave in the system is then expected to fill in the header with data.

Note

This call is only available in master mode.

setBitrate(bps)

Set the bitrate in bits per second

This function sets the bit rate for a master, or the initial bit rate for a slave. The LIN interface should not be on-bus when this function is called.

Note

The LIN Interface should not be on bus. Supported bit rates are 1000 - 20000 bits per second.

setupIllegalMessage(msgid, disturb_flags, delay)

Create a corrupted LIN message

Using this function, it is possible to use the LIN interface to create corrupted LIN messages. You call the function once for each LIN identifier that should be affected.

To return to normal mode, either restart the LIN interface (by going off bus and on the bus again) or call the function with delay and disturb_flags set to zero.

Parameters

• msgid (int) – The identifier of the LIN message

• disturb_flags (MessageDisturb) – One or more of the MessageDisturb flags.

• delay (int) – The delay parameter will result in a delay of this many bittimes after the header and before the first data byte.

Note

The LIN Interface must be on bus for this command to work. It is supported in firmware version 2.4.1 and later.

setupLIN(flags=Setup.VARIABLE_DLC, bps=0)

Setup the LIN interface

This function changes various settings on a LIN Interface that is on bus. When going on bus, the bit rate and the flag values listed below are set to the default value (either as hard-coded in the firmware, or as stored in the non-volatile memory of the LIN Interface).

With this function, you can do one or more of the following things:

• Select checksum according to LIN 2.0

• Turn variable message length off. The message length then will depend on the message ID.

In master mode it is also possible to change the bit rate without going off bus first.

Note

The LIN Interface must be on bus for this command to work. It is supported in firmware version 2.5.1 and later. For LIN 2.0 compliance, you must specify both LIN_ENHANCED_CHECKSUM and LIN_VARIABLE_DLC.

Parameters

• flags (Setup) – One or more of the Setup flags

• bps (int) – The bit rate in bits per second. This parameter can be used only in master mode. The bit rate is set without going off bus.

updateMessage(frame)

Update a message buffer in a slave

This function updates a message buffer in a slave. The contents of the message buffer will be used the next time the slave is polled for the specified LIN message id.

Note

The LIN Interface must be on bus.

Parameters

frame (canlib.Frame) – The information to be updated. Only the Frame.id, Frame.data, and Frame.dlc attributes are used. Note that the frame can, but not need not, be a LINFrame.

writeMessage(frame)

Write a LIN message

Write a LIN message. It is advisable to wait until the message is echoed by read before transmitting a new message, or in case of a schedule table being used, transmit the next message when the previous one is known to be complete.

Note

Only available in master mode

Parameters

frame (canlib.Frame) – Frame.data, and Frame.dlc attributes are used. Note that the frame can, but not need not, be a LINFrame.

writeSync(timeout)

Make sure all message transmitted to the interface have been received

timeout is in milliseconds.

When messages are transmitted to the LIN Interface, they are queued by the driver before appearing on the CAN bus.

If the LIN Interface is in master mode and a LIN message has been transmitted with writeMessage, this function will return when the LIN Interface has received the message. If another LIN message is being received or transmitted, the message will not be transmitted on the LIN bus at once. And even if the LIN Interface is idle, the header of the new message will just have been started when writeSync returns.

After calling updateMessage and clearMessage for a slave, this function is enough to know that the LIN Interface is updated.

After writeMessage, it is advisable to wait until the message is echoed by read before transmitting a new message, or in case of a schedule table being used, transmit the next message when the previous one is known to be complete.

When, in master mode, a message should be transmitted after a poll (reception) is done, it might be necessary to call writeMessage before the result is received via read as the LIN Interface waits up to the maximum frame length before knowing a received message is complete. A new message to transmit will force completion if the currently received one.

writeWakeup(count=0, interval=1)

Write one or more wakeup frames

If count is zero (the default), one single wakeup frame is transmitted. If count > 1, several wakeup frames are transmitted spaced with interval bit times. The LIN interface will interrupt the sequence when a LIN message or another command is received. The stream of wakeups will be recived as incoming messages with the MessageFlag.RX flag.

Parameters

• count (int) – The number of wakeup frames to send.

• interval (int) – The time, in bit times, between the wakeup frames.

FirmwareVersion

class canlib.linlib.FirmwareVersion(boot_version, app_version)

property app_version

Alias for field number 1

property boot_version

Alias for field number 0