Fix is_rx for receive_own_messages for Kvaser (#1908)

* Enable LOCAL_TXACK to fix is_rx for Kvaser * Add missing constant definition * Update comment
hardbyte · Feb 2, 2025 · 71e5e19 · 71e5e19
1 parent b323e77
commit 71e5e19
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Showing 2 changed files with 13 additions and 0 deletions.
diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py
@@ -554,6 +554,15 @@ def __init__(
             1,
         )
 
+        # enable canMSG_LOCAL_TXACK flag in received messages
+
+        canIoCtlInit(
+            self._read_handle,
+            canstat.canIOCTL_SET_LOCAL_TXACK,
+            ctypes.byref(ctypes.c_byte(local_echo)),
+            1,
+        )
+
         if self.single_handle:
             log.debug("We don't require separate handles to the bus")
             self._write_handle = self._read_handle
@@ -671,6 +680,7 @@ def _recv_internal(self, timeout=None):
             is_remote_frame = bool(flags & canstat.canMSG_RTR)
             is_error_frame = bool(flags & canstat.canMSG_ERROR_FRAME)
             is_fd = bool(flags & canstat.canFDMSG_FDF)
+            is_rx = not bool(flags & canstat.canMSG_LOCAL_TXACK)
             bitrate_switch = bool(flags & canstat.canFDMSG_BRS)
             error_state_indicator = bool(flags & canstat.canFDMSG_ESI)
             msg_timestamp = timestamp.value * TIMESTAMP_FACTOR
@@ -682,6 +692,7 @@ def _recv_internal(self, timeout=None):
                 is_error_frame=is_error_frame,
                 is_remote_frame=is_remote_frame,
                 is_fd=is_fd,
+                is_rx=is_rx,
                 bitrate_switch=bitrate_switch,
                 error_state_indicator=error_state_indicator,
                 channel=self.channel,

diff --git a/can/interfaces/kvaser/constants.py b/can/interfaces/kvaser/constants.py
@@ -63,6 +63,7 @@ def CANSTATUS_SUCCESS(status):
 canMSG_ERROR_FRAME = 0x0020
 canMSG_TXACK = 0x0040
 canMSG_TXRQ = 0x0080
+canMSG_LOCAL_TXACK = 0x1000_0000
 
 canFDMSG_FDF = 0x010000
 canFDMSG_BRS = 0x020000
@@ -195,6 +196,7 @@ def CANSTATUS_SUCCESS(status):
 canIOCTL_GET_USB_THROTTLE = 29
 canIOCTL_SET_BUSON_TIME_AUTO_RESET = 30
 canIOCTL_SET_LOCAL_TXECHO = 32
+canIOCTL_SET_LOCAL_TXACK = 46
 canIOCTL_PREFER_EXT = 1
 canIOCTL_PREFER_STD = 2
 canIOCTL_CLEAR_ERROR_COUNTERS = 5