1 FlexRay simple test of the connection
2 ===========================================
3 This test starts a new FlaxRay network communication. Node A sends 100 messages,
4 one message each 10th communication cycle, and node B is suppose to receive all
5 of the messages correctly.
11 FlexRay motor remote controlling
12 ===========================================
14 control panel is connected to the node A.
21 DC motor is connected to the node B to the HBR outputs.
28 simulink demo fray_motor_demo
35 frbtconfigcluster 0x2 0xF 0x15E0 0xF 0xF 0xC 0x15A 0x8 0xAE4 0x9 0xF 0x4 0x43 0x1 0x4 0x2 0xAE3 0x0 0x56 0xA 0x12 0x12 0x4C 0xB4 0x3C
36 frbtconfignode 0x0 0xF 0x2 0x1 0x3 0x3 0x0 0x0 0x1 0x1 0x10D 0x6 0x6 0x18 0x18 0x36B00 0xCD 0x151 0x0 0x1 0x0 0x2 0x81 0x36DA2 0x151 0x33 0x0 0x0
37 ## Stat buffer TX - continuous mode
38 frbtcfgbufS0 slot1 AB cyc0 tx max9 continuous ppi0 int1
39 ## Receiving stat buffer from B
40 frbtcfgbufS1 slot2 AB cyc0 rx max9 continuous ppi0 int1
41 ## Buffer sending message to FIFO in node B - single shot mode
42 frbtcfgbufS2 slot3 A cyc0 tx max9 single ppi0 int1
43 ## NM vector sending and receiving
44 frbtcfgbufS3 slot5 AB cyc0 rx max9 continuous ppi1 int1
45 frbtcfgbufS4 slot4 AB cyc0 tx max9 continuous ppi1 int1
46 ## Dynamic buffers for TX and RX, single shot mode
47 frbtcfgbufD0 slot9 A cyc0 tx max0x40 single ppi0 int0
48 frbtcfgbufD1 slot10 A cyc0 rx max0x40 single ppi0 int0
49 ## RX FIFO buffer to accept messages from all aother slots
50 frbtcfgfifo rejslot0 slotmask0 depth5 AB cyc0 max0x20 rejnull accstat
57 frbtconfigcluster 0x2 0xF 0x15E0 0xF 0xF 0xC 0x15A 0x8 0xAE4 0x9 0xF 0x4 0x43 0x1 0x4 0x2 0xAE3 0x0 0x56 0xA 0x12 0x12 0x4C 0xB4 0x3C
58 frbtconfignode 0x0 0xF 0x2 0x1 0x3 0x3 0x0 0x0 0x1 0x1 0x10D 0x6 0x6 0x18 0x18 0x36B00 0xCD 0x151 0x0 0x1 0x0 0x2 0x81 0x36DA2 0x151 0x33 0x0 0x0
59 ## Stat buffer TX - continuous mode
60 frbtcfgbufS0 slot2 AB cyc0 tx max9 continuous ppi0 int1
61 ## Receiving stat buffer from A
62 frbtcfgbufS1 slot1 AB cyc0 rx max9 continuous ppi0 int1
63 ## Buffer sending to FIFO in node A
64 frbtcfgbufS2 slot6 A cyc0 tx max9 single ppi0 int1
65 ## NM vector sending and receiving
66 frbtcfgbufS3 slot4 AB cyc0 rx max9 continuous ppi1 int1
67 frbtcfgbufS4 slot5 AB cyc0 tx max9 continuous ppi1 int1
68 ## Dynamic buffers for TX and RX, single shot mode
69 frbtcfgbufD0 slot9 A cyc0 rx max0x40 single ppi0 int0
70 frbtcfgbufD1 slot10 A cyc0 tx max0x40 single ppi0 int0
71 ## RX FIFO buffer to accept messages from all buffers except 0x#9, 0x#B, 0x#D, 0x#F
72 frbtcfgfifo rejslot9 slotmask6 depth5 AB cyc0 max0x20 rejnull accstat
78 #Node C configuration (receive network management)
79 frbtconfigcluster 0x2 0xF 0x15E0 0xF 0xF 0xC 0x15A 0x8 0xAE4 0x9 0xF 0x4 0x43 0x1 0x4 0x2 0xAE3 0x0 0x56 0xA 0x12 0x12 0x4C 0xB4 0x3C
80 frbtconfignode 0x0 0xF 0x2 0x1 0x3 0x3 0x0 0x0 0x1 0x1 0x10D 0x6 0x6 0x18 0x18 0x36B00 0xCD 0x151 0x0 0x1 0x0 0x2 0x81 0x36DA2 0x151 0x33 0x0 0x0
81 ## Stat buffer TX - continuous mode
82 ## NM vector sending and receiving
83 frbtcfgbufS0 slot7 AB cyc0 tx max9 continuous ppi0 int1
84 frbtcfgbufS1 slot4 AB cyc0 rx max9 continuous ppi1 int1
85 frbtcfgbufS2 slot5 AB cyc0 rx max9 continuous ppi1 int1
96 Starts sending a message from A in every cycle in Slot 1. The message is received by node B.
97 After the message is sent from A, When the frbtreceive1 command on the node B is called every
98 communication cycle after slot 1 has passed, the newly received message should be retrieved.
100 frbttransmit1 AA BB CC
104 Test dynamic segment:
106 Sends a message from node A in slot 9, which is in dynamic segment of the communication cycle.
107 The buffer for this slot is configured as single-shot mode, so the message is sent only once.
108 The message is received by node B. When the command frbtreceive9 is called after the message was
109 sent from the A node, the newly received message should be retrieved. Every later calling should
110 return with a 'No message received'.
112 frbttransmit9 99 99 99 99 99
118 Sends 6 messages from node A in the slot 3, which is in static segment of the communication cycle.
119 Node B is configured to receive messages from slot 3 in a FIFO RX buffer. The FIFO has storage space
120 for 5 messages, which means that the first message will be thrown away.
121 Calling the frbtreceive0 command 5 times after all messages were sent from node A should retrieve the
122 last 5 received messages. First 4 calling should return with 'More messages are still in FIFO', the last
123 calling should return with 'Received message'. Every later calling should return with the
124 'No message received'.
126 frbttransmit3 12 12 12 12 12
127 frbttransmit3 34 34 34 34 34
128 frbttransmit3 56 56 56 56 56
129 frbttransmit3 78 78 78 78 78
130 frbttransmit3 90 90 90 90 90
131 frbttransmit3 AB AB AB AB AB
135 Test Network management vector:
137 Starts sending a network management vector. The vector has to be manualy sent by the command frbttransmit4
138 from the node A. It is then received and processed automaticaly by the node B. Processed network management
139 vector can be obtained by calling the command frbtnmvector on the node B.
141 frbttransmit4 FF 00 00 00 00 00 00 00 00 00 00 00
143 frbttransmit5 00 FF 00 00 00 00 00 00 00 00 00 00
147 Canceling continuous TX:
149 When message was sent on the slot 4 ba calling the command frbttransmit4 on the node A and buffer assigned to
150 the slot 4 is configured as continuous mode, it can be canceled by calling the command frbtcanceltx4 on the node A.
151 If the frbtreceive4 command is called on the node B after message was sent for the first time from the node A, it
152 shoud retrieved the newly received message.
153 If the frbtreceive4 command is called after frbtcanceltx4, the last received message should be retrieved and for
154 later calling it should return with 'No message received'.
156 frbttransmit4 12 34 56 78 90 AB CD EF EE EE EE EE
162 ===========================================
163 Node A is sending a message in single-shot mode in slot 4. This message is received by nodes B and C into the static segment RX buffer.
164 Node B is sending a message in single-shot mode in slot 5. This message is received by node A into the static segment RX buffer.
165 Node C is sending a message in single shot mode in slot 6. This message is received by node B into the FIFO RX buffer.
166 #Node A configuration
167 frbtconfigcluster 0x2 0xF 0x15E0 0xF 0xF 0xC 0x15A 0x8 0xAE4 0x9 0xF 0x4 0x43 0x1 0x4 0x2 0xAE3 0x0 0x56 0xA 0x12 0x12 0x4C 0xB4 0x3C
168 frbtconfignode 0x0 0xF 0x2 0x1 0x3 0x3 0x0 0x0 0x1 0x1 0x10D 0x6 0x6 0x18 0x18 0x36B00 0xCD 0x151 0x0 0x1 0x0 0x2 0x81 0x36DA2 0x151 0x33 0x0 0x0
170 frbtcfgbufS0 slot1 AB cyc0 tx max9 continuous ppi0 int1
171 frbtcfgbufS1 slot4 AB cyc0 tx max9 single ppi0 int1
173 frbtcfgbufS2 slot5 AB cyc0 rx max9 single ppi0 int1
179 #Node B configuration
180 frbtconfigcluster 0x2 0xF 0x15E0 0xF 0xF 0xC 0x15A 0x8 0xAE4 0x9 0xF 0x4 0x43 0x1 0x4 0x2 0xAE3 0x0 0x56 0xA 0x12 0x12 0x4C 0xB4 0x3C
181 frbtconfignode 0x0 0xF 0x2 0x1 0x3 0x3 0x0 0x0 0x1 0x1 0x10D 0x6 0x6 0x18 0x18 0x36B00 0xCD 0x151 0x0 0x1 0x0 0x2 0x81 0x36DA2 0x151 0x33 0x0 0x0
183 frbtcfgbufS0 slot2 AB cyc0 tx max9 continuous ppi0 int1
184 frbtcfgbufS1 slot5 AB cyc0 tx max9 single ppi0 int1
186 frbtcfgbufS2 slot4 AB cyc0 rx max9 single ppi0 int1
188 # dpt ch cyc pl rnf rsf fid
189 frbtcfgfifo rejslot0 slotmask0 depth5 AB cyc0 max0x20 rejnull accstat
195 #Node C configuration
196 frbtconfigcluster 0x2 0xF 0x15E0 0xF 0xF 0xC 0x15A 0x8 0xAE4 0x9 0xF 0x4 0x43 0x1 0x4 0x2 0xAE3 0x0 0x56 0xA 0x12 0x12 0x4C 0xB4 0x3C
197 frbtconfignode 0x0 0xF 0x2 0x1 0x3 0x3 0x0 0x0 0x1 0x1 0x10D 0x6 0x6 0x18 0x18 0x36B00 0xCD 0x151 0x0 0x1 0x0 0x2 0x81 0x36DA2 0x151 0x33 0x0 0x0
199 frbtcfgbufS0 slot3 AB cyc0 tx max9 continuous ppi0 int1
200 frbtcfgbufS1 slot6 A cyc0 tx max9 single ppi0 int1
202 frbtcfgbufS2 slot4 AB cyc0 rx max9 single ppi0 int1
208 Test of the broadcast
210 Sends a message from node A in slot 4. The message should be received by node A and B, once on each of the nodes.
212 frbttransmit4 AA BB CC
218 Test of the A-B exclusive communication
220 Sends a message from the node B in slot 5. The message should be received only by node A.
228 Test of the B-C exclusive communication and the FIFO RX buffer
230 Sends a messages from the node C in slot 6. 5 latest messages should be received only by node B.
232 frbttransmit6 CC BB 01
233 frbttransmit6 CC BB 02
234 frbttransmit6 CC BB 03
235 frbttransmit6 CC BB 04
236 frbttransmit6 CC BB 05
237 frbttransmit6 CC BB 06