[Vector XL] set hardcoded bitrate to 500k/2M

.gitattributes

@@ -0,0 +1 @@
+*.rs    text    eol=lf

src/vector/mod.rs

@@ -9,11 +9,26 @@ pub use error::Error;
 use std::collections::VecDeque;
 
 use crate::can::{AsyncCanAdapter, CanAdapter, Frame};
-use crate::vector::types::{PortHandle, XLaccess, XLcanTxEvent};
+use crate::vector::types::{PortHandle, XLaccess, XLcanFdConf, XLcanTxEvent};
 use crate::vector::vxlapi::*;
 use crate::Result;
 use tracing::info;
 
+const CONFIG_500K_2M_80: XLcanFdConf = XLcanFdConf {
+    arbitrationBitRate: 500_000,
+    sjwAbr: 1,
+    tseg1Abr: 15,
+    tseg2Abr: 4,
+    dataBitRate: 2_000_000,
+    sjwDbr: 1,
+    tseg1Dbr: 31,
+    tseg2Dbr: 8,
+    reserved: 0,
+    options: 0,
+    reserved1: [0, 0],
+    reserved2: 0,
+};
+
 #[derive(Clone)]
 pub struct VectorCan {
     port_handle: PortHandle,
@@ -42,6 +57,9 @@ impl VectorCan {
         let channel_mask = xl_get_channel_mask(&config)?;
         let port_handle = xl_open_port("automotive", channel_mask)?;
 
+        // Configure bitrate
+        xl_can_fd_set_configuration(&port_handle, channel_mask, &CONFIG_500K_2M_80)?;
+
         xl_activate_channel(&port_handle, channel_mask)?;
         info!("Connected to Vector Device. HW: {:?}", config.hw_type);
 

src/vector/types.rs

@@ -1,7 +1,9 @@
 use strum_macros::FromRepr;
 
 use crate::vector::bindings as xl;
-pub use crate::vector::bindings::{XLaccess, XLcanRxEvent, XLcanTxEvent, XLportHandle};
+pub use crate::vector::bindings::{
+    XLaccess, XLcanFdConf, XLcanRxEvent, XLcanTxEvent, XLportHandle,
+};
 
 pub static DLC_TO_LEN: &[usize] = &[0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64];
 pub static LEN_TO_DLC: &[u8] = &[

src/vector/vxlapi.rs

@@ -1,7 +1,7 @@
 use crate::vector::bindings as xl;
 use crate::vector::error::Error;
 use crate::vector::types::{
-    ChannelConfig, HwType, PortHandle, XLaccess, XLcanRxEvent, XLcanTxEvent,
+    ChannelConfig, HwType, PortHandle, XLaccess, XLcanFdConf, XLcanRxEvent, XLcanTxEvent,
 };
 use crate::Result;
 
@@ -103,7 +103,7 @@ pub fn xl_get_channel_mask(app_config: &ChannelConfig) -> Result<XLaccess> {
 pub fn xl_open_port(user_name: &str, access_mask: XLaccess) -> Result<PortHandle> {
     unsafe {
         let mut port_handle = std::mem::zeroed();
-        let mut permission_mask = std::mem::zeroed();
+        let mut permission_mask = access_mask; // Request init access so we can change bitrate
 
         let status = xl::xlOpenPort(
             &mut port_handle,
@@ -160,6 +160,24 @@ pub fn xl_deactivate_channel(port_handle: &PortHandle, access_mask: XLaccess) ->
     }
 }
 
+pub fn xl_can_fd_set_configuration(
+    port_handle: &PortHandle,
+    access_mask: XLaccess,
+    config: &XLcanFdConf,
+) -> Result<()> {
+    unsafe {
+        let mut config = config.clone();
+        let status = xl::xlCanFdSetConfiguration(port_handle.port_handle, access_mask, &mut config);
+        match status as u32 {
+            xl::XL_SUCCESS => Ok(()),
+            _ => Err(
+                Error::DriverError(format!("xlCanFdSetConfiguration failed, err {}", status))
+                    .into(),
+            ),
+        }
+    }
+}
+
 pub fn xl_can_transmit_ex(
     port_handle: &PortHandle,
     access_mask: XLaccess,