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Leaf devices

Devices from Leaf device family provide a 48-bit counter running at 48 MHz for hardware time stamps. This counter will overflow after 3:15:28.124 hours.

Mhydra devices

Devices from Mhydra device family provide a 64-bit counter running at 80 MHz which will overflow after 2668 days and 19:11:40.921 hours (approx. 7.3 years).

Findings:
Function KvaserCAN_SetBusParamsFd accepts invalid value 17 in field data.tseg2 of parameter params (KvaserUSB_BusParamsFd_t).

Remarks:
According to CAN FD specification the valid range for data phase parameter tseg2 shall be 1 to 16.

Affected:

• Leaf Pro HS v2
• Hybrid Pro 2x CAN/LIN

Rootcause:
The function itself does not check the range of the data field in the structure KvaserUSB_BusParamsFd_t The affected devices (and only the affected devices) do not response with an error when given an invalid value in field data.tseg2.

Comment:
This behavior on driver level is assessed as a minor issue, because sanity checks for CAN FD bit-rate settings are implemented on user level (CAN API V3).

Testcase:

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
TC19: Set CAN FD bus params with field 'data.tseg2' set to invalid value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
expected: Not CANUSB_SUCCESS

note: this test requires a CAN FD capable device

pre:
- initialize DUT1 with configured settings

test: loop over selected invalid bus params
- sub(1): 1Mbps : 8Mbps with field 'data.tseg2' set to 255
- sub(2): 500kbps : 4Mbps with field 'data.tseg2' set to 17
- sub(3): 250kbps : 2Mbps with field 'data.tseg2' set to 255
- sub(4): 125kbps : 1Mbps with field 'data.tseg2' set to 17
-- try to set invalid bus params into DUT1
-- if nevertheless successful get bus params from DUT1
-- and compare set and get bus params

post:
- shutdown DUT1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Note: Value 255 is recognized as invalid by the affected devices and the corresponding sub-testcase passed.

Bit-rate settings of CAN API V3 are based on the CAN clock (frequency) and a prescaler besides two time segments to determine the sample point, while Kvaser´s bus parameters are giving directly the bit-rate as well as the two time segments to determine the sample point.

Findings:

1. If the specified CAN clock (type can_bitrate_t field frequency) does not match the clock of the CAN interface, this could result in a non-intended CAN bit-rate due to the internal conversion to corresponding bus parameters without clock reference.
2. The conversion of bus parameters (type KvaserUSB_BusParams_t) to CAN API bit-rate settings assumes a fixed CAN clock of 80 MHz for all CAN interfaces. The result shows in this case for CAN interfaces running with 24 MHz (or not running with 80 MHz) a wrong bit-rate.

Additional information:

• CAN Library: since Version 0.1
• CAN Hardware: Leaf Light v2

CAN API Bit-rate Settings:

typedef union can_bitrate_t_ {
    int32_t index;                      /**< index to predefined bit-rate (<= 0) */
    struct {                            /*   bit-timing register: */
        int32_t frequency;              /**<   clock domain (frequency in [Hz]) */
        struct {                        /*     nominal bus speed: */
            uint16_t brp;               /**<     bit-rate prescaler */
            uint16_t tseg1;             /**<     TSEG1 segment */
            uint16_t tseg2;             /**<     TSEG2 segment */
            uint16_t sjw;               /**<     synchronization jump width */
            uint8_t  sam;               /**<     number of samples (SJA1000) */
        } nominal;                      /**<   nominal bus speed */
        struct {                        /*     data bus speed: */
            uint16_t brp;               /**<     bit-rate prescaler */
            uint16_t tseg1;             /**<     TSEG1 segment */
            uint16_t tseg2;             /**<     TSEG2 segment */
            uint16_t sjw;               /**<     synchronization jump width */
        } data;                         /**<   data bus speed */
    } btr;                              /**< bit-timing register */
} can_bitrate_t;

Kvaser CAN Bus Parameters:

typedef struct kvaser_bus_params_t_ {   /* bus parameter: */
    uint32_t bitRate;                   /* - bit rate (in [Hz]) */
    uint8_t  tseg1;                     /* - time segment 1 */
    uint8_t  tseg2;                     /* - time segment 2 */
    uint8_t  sjw;                       /* - synchronization jump width */
    uint8_t  noSamp;                    /* - number of sample points */
} KvaserUSB_BusParams_t;

Hello,

I have sent you an email directly and you kindly reply, but because I still have the problem, I found it could be a good idea to fill in an issue ?

I am trying to make my Kvaser Leaf work on my Mac M1 on Ventura, but I get this output

CAN API V3 for Kvaser CAN Interfaces, Version 0.3.1 (0xaaa925f)
myDriver.GetProperty(CANPROP_GET_SPEC): value = 3.0
myDriver.GetProperty(CANPROP_GET_VERSION): value = 0.3
myDriver.GetProperty(CANPROP_GET_PATCH_NO): value = 1
myDriver.GetProperty(CANPROP_GET_BUILD_NO): value = aaa925f
myDriver.GetProperty(CANPROP_GET_LIBRARY_ID): value = 600
myDriver.GetProperty(CANPROP_GET_LIBRARY_DLLNAME): value = 'libUVCANKVL.dylib'
myDriver.GetProperty(CANPROP_GET_LIBRARY_VENDOR): value = 'UV Software, Berlin'
Loading the MacCAN driver...
- Run loop started so notifications will be received
+++ Unable to open device #0 (device not present)
+++ MacCAN-Core: device could not be opened (00)
+++ error: myDriver.InitializeChannel(0) returned -95
Cheers!
Program ended with exit code: 161

I have made tests with :

• Memorator pro 5 5xHS : EAN 73-30130-00778-9
• USBcan leaf 4xHS : EAN 73-30130-00831-1
• USBcan Light 2xHS : EAN 73-30130-00714-7
  And on :
• MacBook Pro
• Apple M1 Pro
• Ventura 13..1

Any idea ?

Thanks for your help and the work done !

Jacques

Stupidly, there is a copy-paste error in the CAN API Swift wrapper that prevents to set message flags other than standard frames for transmit messages.

Wrong:

    public struct Message {
        public struct Flags: OptionSet {
            // message flags as option set
            public static let StandardFrame = Flags([])
            public static let ExtendedFrame = Mode(rawValue: 0x01)
            public static let RemoteFrame = Mode(rawValue: 0x02)
            public static let CanFdLongFrame = Mode(rawValue: 0x04)
            public static let CanFdFastFrame = Mode(rawValue: 0x08)
            // message flags from C interface
            ...

Much better:

    public struct Message {
        public struct Flags: OptionSet {
            // message flags as option set
            public static let StandardFrame = Flags([])
            public static let ExtendedFrame = Flags(rawValue: 0x01)
            public static let RemoteFrame = Flags(rawValue: 0x02)
            public static let CanFdLongFrame = Flags(rawValue: 0x04)
            public static let CanFdFastFrame = Flags(rawValue: 0x08)
            // message flags from C interface
            ...

I downloaded and built v0.3.1 and seem to be stuck with an interface timeout error. I get a similar error with the can_moni and can_test programs. Below is the result of kvl_test TEST INFO which i saw was the most informative from other posts/issues.

Any help appreciated.

dtravis@Dexter-MacBook-Pro KvaserCAN-Library % ./Trial/kvl_test TEST INFO
>>> CAN API V3 for Kvaser CAN Interfaces, Version 0.3.1 (0xaaa925f)
>>> myDriver.GetProperty(CANPROP_GET_SPEC): value = 3.0
>>> myDriver.GetProperty(CANPROP_GET_VERSION): value = 0.3
>>> myDriver.GetProperty(CANPROP_GET_PATCH_NO): value = 1
>>> myDriver.GetProperty(CANPROP_GET_BUILD_NO): value = aaa925f
>>> myDriver.GetProperty(CANPROP_GET_LIBRARY_ID): value = 600
>>> myDriver.GetProperty(CANPROP_GET_LIBRARY_DLLNAME): value = 'libUVCANKVL.dylib'
>>> myDriver.GetProperty(CANPROP_GET_LIBRARY_VENDOR): value = 'UV Software, Berlin'
    Loading the MacCAN driver...
    - One device added at location 02140000
      - Device #0: Kvaser Leaf Light v2
        - Properties: vendor = bfd, product = 120, release = 0001, speed = 2
    - Run loop started so notifications will be received
>>> CCanAPI::ProbeChannel(0): state = available
+++ Sorry, device #1 is not available
>>> CCanAPI::ProbeChannel(1): state = not available
+++ Sorry, device #2 is not available
>>> CCanAPI::ProbeChannel(2): state = not available
+++ Sorry, device #3 is not available
>>> CCanAPI::ProbeChannel(3): state = not available
+++ Sorry, device #4 is not available
>>> CCanAPI::ProbeChannel(4): state = not available
+++ Sorry, device #5 is not available
>>> CCanAPI::ProbeChannel(5): state = not available
+++ Sorry, device #6 is not available
>>> CCanAPI::ProbeChannel(6): state = not available
+++ Sorry, device #7 is not available
>>> CCanAPI::ProbeChannel(7): state = not available
      + Device #0: asynchronous event source added to run loop
        - Message pipe of size 512 bytes
        - Message queue for 65536 elements of size 88 bytes
        - Double buffer each of size 512 bytes for endpoint #1
    Initializing Kvaser Leaf Light v2 driver...
>>> Kvaser Leaf Light v2 (device #0): stop chip (go bus OFF)
>>> Kvaser Leaf Light v2 (device #0): set driver mode NORMAL
>>> Kvaser Leaf Light v2 (device #0): trigger chip state event
+++ Kvaser Leaf Light v2 (device #0): card information could not be read (-50)
+++ Sorry, device #0 is not opened or not available
+++ error: myDriver.InitializeChannel(0) returned -50
Cheers!

dtravis@Dexter-MacBook-Pro KvaserCAN-Library % ./Binaries/can_moni 'Kvaser CAN Channel 0' --baudrate=500 --mode=2.0 -v
CAN Monitor for Kvaser CAN Interfaces, Version 0.3.1 (0xaaa925f)
Copyright (c) 2007,2020-2022 by Uwe Vogt, UV Software, Berlin

This program comes with ABSOLUTELY NO WARRANTY!

This is free software, and you are welcome to redistribute it
under certain conditions; type `--version' for details.

Op.-mode=CAN2.0 (op_mode=00h)
[email protected]% (f_clock=8000000,nom_brp=1,nom_tseg1=13,nom_tseg2=2,nom_sjw=1,nom_sam=0)

Hardware=Kvaser CAN Channel 0...FAILED!
+++ error: CAN Controller could not be initialized (-50)
Copyright (c) 2007,2020-2022 by Uwe Vogt, UV Software, Berlin

sir. kvaser usbcan pro 2xhs v2 is not supported?
I would like to know if there is a way to use this equipment.

thank you

Occasionally the device is not recognized immediately after power-on or awake from hibernation:

+++ Unable to find interfaces on device #0: e00002bc
+++ error: myDriver.InitializeChannel(0) returned -95

It seems that there is no iterator available to create the device interface for the interface (file MacCAN_IOUsbKit.c, line 1698, rev. 1006).

Workaround:

• Start the application again, and everything works fine.

Action points:

• Further investigation required.

Additional information:

• CAN Library: MacCAN-KvaserCAN Version 0.1 (Commit 64e4388 of June 3, 2021)
• CAN Hardware: Kvaser Leaf Light v2 and Kvaser Leaf Pro HS v2
• Mac Hardware: MacBook Pro (2019, x86_64 architecture) running macOS 11.4

Findings:
Function KvaserCAN_SetBusParamsFd accepts invalid value 33 in field data.tseg1 of parameter params (KvaserUSB_BusParamsFd_t).

Remarks:
According to CAN FD specification the valid range for data phase parameter tseg1 shall be 1 to 32.

Affected:

• Leaf Pro HS v2
• Hybrid Pro 2x CAN/LIN

Rootcause:
The function itself does not check the range of the data field in the structure KvaserUSB_BusParamsFd_t. The affected devices (and only the affected devices) do not response with an error when given an invalid value in field data.tseg1.

Comment:
This behavior on driver level is assessed as a minor issue, because sanity checks for CAN FD bit-rate settings are implemented on user level (CAN API V3).

Testcase:

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
TC17: Set CAN FD bus params with field 'data.tseg1' set to invalid value
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
expected: Not CANUSB_SUCCESS

note: this test requires a CAN FD capable device

pre:
- initialize DUT1 with configured settings

test: loop over selected invalid bus params
- sub(1): 1Mbps : 8Mbps with field 'data.tseg1' set to 33
- sub(2): 500kbps : 4Mbps with field 'data.tseg1' set to 255
- sub(3): 250kbps : 2Mbps with field 'data.tseg1' set to 255
- sub(4): 125kbps : 1Mbps with field 'data.tseg1' set to 33
-- try to set invalid bus params into DUT1
-- if nevertheless successful get bus params from DUT1
-- and compare set and get bus params

post:
- shutdown DUT1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Note: Value 255 is recognized as invalid by the affected devices and the corresponding sub-testcase passed.