# canlib.linlib

class `canlib.linlib.``Channel`(handle)

  Bases: `object`

  A LINlib channel

  This class is normally instantiated with `openMaster` or `openSlave`.

  Channels are automatically closed on garbage collection, and can also be used as context managers in which case they close as soon as the context exits.

  `busOff`()

    Go bus off

    This function deactivates the LIN interface. It will not participate further in the LIN bus traffic.

  `busOn`()

    Go bus on

    This function activates the LIN interface.

  `clearMessage`(msg_id)

    Clear a message buffer for a LIN slave

    The message buffer will not answer next time it is polled.

  `close`()

    Close this LINlib channel

    Closes an open handle to a LIN channel.

    Note

    It is normally not necessary to call this function directly, as the internal handle is automatically closed when the `Channel` object is garbage collected.

    New in version 1.6.

  `getCanHandle`()

    Return the CAN handle given an open LIN handle

  `getFirmwareVersion`()

    Retrieve the firmware version from the LIN interface

    Returns a `FirmwareVersion` namedtuple containing `boot_version` and `app_version` that are `VersionNumber` namedtuples. If only one of these is needed, the return value can be unpacked as such:

        boot_ver, app_ver = channel.getFirmwareVersion()

    Note

    For newer interfaces use `linlib.getChannelData` with `linlib.ChannelData.CARD_FIRMWARE_REV` instead.

    The version numbers aren’t valid until `Channel.busOn` has been called.

    The firmware in the LIN interface is divided into two parts, the boot code and the application. The boot code is used only when reprogramming (reflashing) the LIN interface. The application handles all LIN communication.

    Version numbers are, since the precambric era, divided into a major version number, a minor version number and a build number. These are usually written like, for example, 3.2.12. Here the major number is 3, the minor number 2 and the build number 12.

  `read`(timeout=0)

    Read a message from the LIN interface

    If a message is available for reception, linOK is returned. This is a non-blocking call. It waits until a message is received in the LIN interface, or the specified timeout period elapses.

    This may return a frame sent by `writeMessage` or `writeWakeup`.

    Note

    This call will also return echoes of what the LIN interface is transmitting with `writeMessage`. In other words, the LIN interface can hear itself.

    Parameters: | timeout (int) – Timeout in milliseconds.
    Returns: | (LINFrame)

  `requestMessage`(msgid)

    Request a message from a slave

    This function writes a LIN message header to the LIN bus. A slave in the system is then expected to fill in the header with data.

    Note

    This call is only available in master mode.

  `setBitrate`(bps)

    Set the bitrate in bits per second

    This function sets the bit rate for a master, or the initial bit rate for a slave. The LIN interface should not be on-bus when this function is called.

    Note

    The LIN Interface should not be on bus. Supported bit rates are 1000 - 20000 bits per second.

  `setupIllegalMessage`(msgid, disturb_flags, delay)

    Create a corrupted LIN message

    Using this function, it is possible to use the LIN interface to create corrupted LIN messages. You call the function once for each LIN identifier that should be affected.

    To return to normal mode, either restart the LIN interface (by going off bus and on the bus again) or call the function with delay and disturb_flags set to zero.

    Parameters: | msgid (int) – The identifier of the LIN message disturb_flags (linlib.MessageDisturb) – One or more of the `linlib.MessageDisturb` flags. delay (int) – The delay parameter will result in a delay of this many bittimes after the header and before the first data byte.

    Note

    The LIN Interface must be on bus for this command to work. It is supported in firmware version 2.4.1 and later.

  `setupLIN`(flags=<Setup.VARIABLE_DLC: 2>, bps=0)

    Setup the LIN interface

    This function changes various settings on a LIN Interface that is on bus. When going on bus, the bit rate and the flag values listed below are set to the default value (either as hard-coded in the firmware, or as stored in the non-volatile memory of the LIN Interface).

    With this function, you can do one or more of the following things:

    - Select checksum according to LIN 2.0
    - Turn variable message length off. The message length then will depend on the message ID.

    In master mode it is also possible to change the bit rate without going off bus first.

    Note

    The LIN Interface must be on bus for this command to work. It is supported in firmware version 2.5.1 and later. For LIN 2.0 compliance, you must specify both LIN_ENHANCED_CHECKSUM and LIN_VARIABLE_DLC.

    Parameters: | flags (linlib.Setup) – One or more of the `linlib.Setup` flags bps (int) – The bit rate in bits per second. This parameter can be used only in master mode. The bit rate is set without going off bus.

  `updateMessage`(frame)

    Update a message buffer in a slave

    This function updates a message buffer in a slave. The contents of the message buffer will be used the next time the slave is polled for the specified LIN message id.

    Note

    The LIN Interface must be on bus.

    Parameters: | frame (Frame) – The information to be updated. Only the ~id~, ~data~, and ~dlc~ attributes are used. Note that the frame can, but not need not, be a `LINFrame`.

  `writeMessage`(frame)

    Write a LIN message

    Write a LIN message. It is advisable to wait until the message is echoed by `read` before transmitting a new message, or in case of a schedule table being used, transmit the next message when the previous one is known to be complete.

    Note

    Only available in master mode

    Parameters: | frame – Frame :: The information to be updated. Only the ~id~, ~data~, and ~dlc~ attributes are used. Note that the frame can, but not need not, be a `LINFrame`.

  `writeSync`(timeout)

    Make sure all message transmitted to the interface have been received

    `timeout` is in milliseconds.

    When messages are transmitted to the LIN Interface, they are queued by the driver before appearing on the CAN bus.

    If the LIN Interface is in master mode and a LIN message has been transmitted with `writeMessage`, this function will return when the LIN Interface has received the message. If another LIN message is being received or transmitted, the message will not be transmitted on the LIN bus at once. And even if the LIN Interface is idle, the header of the new message will just have been started when `writeSync` returns.

    After calling `updateMessage` and `clearMessage` for a slave, this function is enough to know that the LIN Interface is updated.

    After `writeMessage`, it is advisable to wait until the message is echoed by `read` before transmitting a new message, or in case of a schedule table being used, transmit the next message when the previous one is known to be complete.

    When, in master mode, a message should be transmitted after a poll (reception) is done, it might be necessary to call `writeMessage` before the result is received via `read` as the LIN Interface waits up to the maximum frame length before knowing a received message is complete. A new message to transmit will force completion if the currently received one.

  `writeWakeup`(count=0, interval=1)

    Write one or more wakeup frames

    If `count` is zero (the default), one single wakeup frame is transmitted. If ~count > 1~, several wakeup frames are transmitted spaced with `interval` bittimes. The LIN interface will interrupt the sequence when a LIN message or another command is received. The stream of wakeups will be recived as incoming messages with the `linlib.MessageFlag.RX` flag.

    Parameters: | count (int) – The number of wakeup frames to send. interval (int) – The time, in bit times, between the wakeup frames.

class `canlib.linlib.``ChannelData`

  Bases: `canlib.cenum.CEnum`

  linCHANNELDATA_xxx

  These defines are used in `linlib.getChannelData`.

  `CARD_FIRMWARE_REV` = 9

class `canlib.linlib.``ChannelType`

  Bases: `canlib.cenum.CEnum`

  Flags for `linlib.openChannel`

  `MASTER` = 1
  `SLAVE` = 2

class `canlib.linlib.``Error`

  Bases: `canlib.cenum.CEnum`

  `CANERROR` = -15
  `DRIVER` = -18
  `DRIVERFAILED` = -19
  `ERRRESP` = -16
  `INTERNAL` = -22
  `INVHANDLE` = -14
  `LICENSE` = -21
  `MASTERONLY` = -5
  `NOCARD` = -20
  `NOCHANNELS` = -10
  `NOHANDLES` = -13
  `NOMEM` = -9
  `NOMSG` = -1
  `NOTFOUND` = -8
  `NOTINITIALIZED` = -12
  `NOTRUNNING` = -3
  `NOT_IMPLEMENTED` = -26
  `NO_ACCESS` = -23
  `NO_REF_POWER` = -25
  `PARAM` = -7
  `RUNNING` = -4
  `SLAVEONLY` = -6
  `TIMEOUT` = -11
  `VERSION` = -24
  `WRONGRESP` = -17

class `canlib.linlib.``FirmwareVersion`(boot_version, app_version)

  Bases: `tuple`

  `app_version`

    Alias for field number 1

  `boot_version`

    Alias for field number 0

exception `canlib.linlib.``LinError`

  Bases: `canlib.exceptions.DllException`

  Base class for exceptions raised by the linlib class

  Looks up the error text in the linlib dll and presents it together with the error code and the wrapper function that triggered the exception.

exception `canlib.linlib.``LinGeneralError`(status)

  Bases: `canlib.linlib.exceptions.LinError`

  A linlib error that does not (yet) have its own Exception

  Warning

  Do not explicitly catch this error, instead catch `LinError`. Your error may at any point in the future get its own exception class, and so will no longer be of this type. The actual status code that raised any `LinError` can always be accessed through a `status` attribute.

exception `canlib.linlib.``LinNoMessageError`

  Bases: `canlib.linlib.exceptions.LinError`

  No messages where availible

  `status` = -1

exception `canlib.linlib.``LinNotImplementedError`

  Bases: `canlib.linlib.exceptions.LinError`

  Feature/function not implemented in the device

  `status` = -26

class `canlib.linlib.``MessageDisturb`

  Bases: `canlib.cenum.CEnum`

  LIN illegal message flags

  `CSUM` = 1
  `PARITY` = 2

class `canlib.linlib.``MessageFlag`(*args, **kwds)

  Bases: `canlib.cenum.CFlag`

  LIN message flags

  The following flags can be returned from `linlib.readMessage` and `linlib.readMessageWait`.

  `BIT_ERROR` = <MessageFlag.BIT_ERROR: 128>
  `CSUM_ERROR` = <MessageFlag.CSUM_ERROR: 16>
  `NODATA` = <MessageFlag.NODATA: 8>
  `PARITY_ERROR` = <MessageFlag.PARITY_ERROR: 32>
  `RX` = <MessageFlag.RX: 2>
  `SYNCH_ERROR` = <MessageFlag.SYNCH_ERROR: 64>
  `TX` = <MessageFlag.TX: 1>
  `WAKEUP_FRAME` = <MessageFlag.WAKEUP_FRAME: 4>

class `canlib.linlib.``MessageInfo`

  Bases: `_ctypes.Structure`

  `bitrate`

    Structure/Union member

  `byteTime`

    Structure/Union member

  `checkSum`

    Structure/Union member

  `frameLength`

    Structure/Union member

  `idPar`

    Structure/Union member

  `synchBreakLength`

    Structure/Union member

  `synchEdgeTime`

    Structure/Union member

  `timestamp`

    Structure/Union member

  `z`

    Structure/Union member

class `canlib.linlib.``MessageParity`

  Bases: `canlib.cenum.CEnum`

  LIN message parity

  - `MessageParity.STANDARD` == `LIN_MSG_USE_STANDARD_PARITY`
  - `MessageParity.ENHANCED` == `LIN_MSG_USE_ENHANCED_PARITY`
  `ENHANCED` = 8
  `STANDARD` = 4

class `canlib.linlib.``Setup`(*args, **kwds)

  Bases: `canlib.cenum.CFlag`

  Used in `linlib.setup`

  `ENHANCED_CHECKSUM` = <Setup.ENHANCED_CHECKSUM: 1>
  `VARIABLE_DLC` = <Setup.VARIABLE_DLC: 2>

class `canlib.linlib.``TransceiverData`(ean, serial, type)

  Bases: `tuple`

  `ean`

    Alias for field number 0

  `serial`

    Alias for field number 1

  `type`

    Alias for field number 2

`canlib.linlib.``dllversion`()

  Retrieve the LIN library version.

  Note

  Requires CANlib v5.3

`canlib.linlib.``getChannelData`(channel_number, item=<ChannelData.CARD_FIRMWARE_REV: 9>)

  This function can be used to retrieve certain pieces of information about a channel.

  Note

  You must pass a channel number and not a channel handle.

  Parameters: | channel (int) – The number of the channel you are interested in. Channel numbers are integers in the interval beginning at 0. item (linlib.ChannelData) – This parameter specifies what data to obtain for the specified channel. Currently the only item available is `ChannelData.CARD_FIRMWARE_REV`, which is the default.
  Returns: | (major, minor, release, build) :: A four-tuple of the firmware version. (For `ChannelData.CARD_FIRMWARE_REV`)

`canlib.linlib.``getTransceiverData`(channel_number)

  Get the transceiver information for a CAN channel

  The application typically uses this call to find out whether a particular CAN channel has a LIN interface connected to it. For a Kvaser LIN Leaf it retrieves the transceiver type and device information.

  This function call will open the CAN channel, but no CAN messages are transmitted on it. In other words, it’s risk-free to use even if no LIN interface is connected, or if the channel is connected to a CAN system.

  Note

  Attempts to use the channel for LIN communication will be meaningful only if the returned `TransceiverData`’s ~type~ attribute is one of `canlib.canlib.TransceiverType.LIN` or `canlib.canlib.TransceiverType.CANFD_LIN`

  A LIN interface need not be powered for this call to succeed.

  The information may not always be accurate. Especially after changing transceiver on a running LAPcan card, you should go on bus and off bus again to be sure the transceiver information is updated.

`canlib.linlib.``initializeLibrary`()

  Initialize LINlib

  Note

  LINlib is automatically initialized when `canlib.linlib` is imported. This function is only necessary when LINlib has been manually unloaded with `unloadLibrary`.

`canlib.linlib.``openChannel`(channel_number, channel_type, bps=None)

  Open a channel to a LIN interface.

  Parameters: | channel_number (int) – The number of the channel. This is the same channel number as used by `canlib.canlib.ppenChannel`. channel_type (linlib.ChannelType) – Whether the LIN interface will be a master or slave. bps (int or None) – If not None, `Channel.setBitrate` will be called with this value before the channel is returned.
  Returns: | (linlib.Channel) – The opened channel

  Note

  For DRV Lin: The cable must be powered and connected to a LAPcan channel. For Kvaser LIN Leaf: The Leaf must be powered from the LIN side.

`canlib.linlib.``openMaster`(channel_number, bps=None)

  Open a channel as a master

  This function simply calls `openChannel` with `channel_type` set to `ChannelType.MASTER`.

`canlib.linlib.``openSlave`(channel_number, bps=None)

  Open a channel as a slave

  This function simply calls `openChannel` with `channel_type` set to `ChannelType.SLAVE`.

`canlib.linlib.``unloadLibrary`()

  Deinitialize LINlib

  This function de-initializes the LIN library. After this function is called `linInitializeLibrary` must be called before any other LIN function is called.