Hands-On: FlexRay Schedule Configuration

# Vector vFlexRay: define cluster, assign slots, export FIBEX for CANoe
# (typically done via vFlexRay GUI — equivalent CLI workflow shown)

vflexray_cli --create-cluster FlexRay_Cluster_0     --gdCycle 2000     --gNumStaticSlots 50     --gdStaticSlot 2500     --gPayloadLength 12     --data-rate 10

# Assign nodes to slots
vflexray_cli --assign-slot 1 --node ECU_A --channel AB --coldstart --sync
vflexray_cli --assign-slot 2 --node ECU_B --channel AB --sync
vflexray_cli --assign-slot 3 --node ECU_C --channel AB
vflexray_cli --assign-slot 4 --node ECU_A --channel A   # Channel A only (non-redundant)

# Export FIBEX for CANoe import
vflexray_cli --export-fibex FlexRay_Cluster_0.xml

/* CANoe CAPL: monitor FlexRay cluster status and slot activity */
variables {
    int sync_frame_count  = 0;
    int normal_active_seen = 0;
}

/* Triggered when FlexRay CC enters NORMAL_ACTIVE state */
on flexrayPOCState FR_POCSTATE_NORMAL_ACTIVE {
    if (!normal_active_seen) {
        normal_active_seen = 1;
        write("FlexRay cluster SYNCHRONISED at t=%.1f ms", timeNow()/100000.0);
    }
}

/* Monitor sync frame reception */
on flexrayFrame * {
    if (this.syncFrame) {
        sync_frame_count++;
        if (sync_frame_count % 1000 == 0) {
            write("Sync frames received: %d (%.0f per second)",
                  sync_frame_count, sync_frame_count / (timeNow()/1e8));
        }
    }
}

/* Detect slot errors */
on flexraySlotStatus * {
    if (this.errorFlag) {
        write("Slot error: slot=%d cycle=%d channel=%s",
              this.slotId, this.cycleCount,
              this.channel == FR_CHANNEL_A ? "A" : "B");
    }
}

# Exercise: add steering_angle to FlexRay cluster
# Requirements: 16 bytes, 5 ms rate (every 2nd cycle of a 2 ms cluster)

import vflexray_api as vfr

cluster = vfr.LoadCluster("FlexRay_Cluster_0.xml")

# Check slot 5 is free
slot = cluster.GetSlot(5)
assert slot.node is None, f"Slot 5 already assigned to {slot.node}"

# Assign: ECU_EPS in slot 5, Channel A+B, every 1st and 2nd cycle
cluster.AssignSlot(
    slot_id=5,
    node="ECU_EPS",
    channel=vfr.CHANNEL_AB,
    cycle_repetition=2,     # transmit every 2nd cycle (→ 5 ms effective rate)
    cycle_base_offset=0,    # start transmitting from cycle 0
)

# Add I-PDU mapping
cluster.AddPDU(
    slot_id=5,
    pdu_name="SteeringAngle_PDU",
    start_byte=0,
    length=16,  # 16 bytes; fits in 24-byte slot
)

# Verify no slot conflicts
conflicts = cluster.ValidateSlotMatrix()
assert len(conflicts) == 0, f"Slot conflicts: {conflicts}"

# Re-export FIBEX
cluster.ExportFIBEX("FlexRay_Cluster_0_updated.xml")
print("SteeringAngle added to slot 5 — re-import FIBEX in CANoe")