diff --git a/CHANGELOG.txt b/CHANGELOG.txt
index 933318a66..c2a6ea38a 100644
--- a/CHANGELOG.txt
+++ b/CHANGELOG.txt
@@ -1,3 +1,23 @@
+Version 3.3.3
+====
+
+Backported fixes from 4.x development branch which targets Python 3.
+
+* #798 Backport caching msg.data value in neovi interface.
+* #796 Fix Vector CANlib treatment of empty app name.
+* #771 Handle empty CSV file.
+* #741 ASCII reader can now handle FD frames.
+* #740 Exclude test packages from distribution.
+* #713 RTR crash fix in canutils log reader parsing RTR frames.
+* #701 Skip J1939 messages in ASC Reader.
+* #690 Exposes a configuration option to allow the CAN message player to send error frames
+  (and sets the default to not send error frames).
+* #638 Fixes the semantics provided by periodic tasks in SocketCAN interface.
+* #628 Avoid padding CAN_FD_MESSAGE_64 objects to 4 bytes.
+* #617 Fixes the broken CANalyst-II interface.
+* #605 Socketcan BCM status fix.
+
+
 Version 3.3.2
 ====
 
diff --git a/can/__init__.py b/can/__init__.py
index 44aa90e4a..481dc29e3 100644
--- a/can/__init__.py
+++ b/can/__init__.py
@@ -8,7 +8,7 @@
 
 import logging
 
-__version__ = "3.3.2"
+__version__ = "3.3.3"
 
 log = logging.getLogger('can')
 
diff --git a/can/interfaces/canalystii.py b/can/interfaces/canalystii.py
index 35f240a66..859fdca9a 100644
--- a/can/interfaces/canalystii.py
+++ b/can/interfaces/canalystii.py
@@ -1,3 +1,4 @@
+import warnings
 from ctypes import *
 import logging
 import platform
@@ -66,17 +67,19 @@ class VCI_CAN_OBJ(Structure):
 
 
 class CANalystIIBus(BusABC):
-    def __init__(self, channel, device=0, baud=None, Timing0=None, Timing1=None, can_filters=None):
+    def __init__(
+        self, channel, device=0, bitrate=None, baud=None, Timing0=None, Timing1=None, can_filters=None, **kwargs
+    ):
         """
 
         :param channel: channel number
         :param device: device number
-        :param baud: baud rate
+        :param baud: baud rate. Renamed to bitrate in next release.
         :param Timing0: customize the timing register if baudrate is not specified
         :param Timing1:
         :param can_filters: filters for packet
         """
-        super(CANalystIIBus, self).__init__(channel, can_filters)
+        super(CANalystIIBus, self).__init__(channel, can_filters, **kwargs)
 
         if isinstance(channel, (list, tuple)):
             self.channels = channel
@@ -91,10 +94,15 @@ def __init__(self, channel, device=0, baud=None, Timing0=None, Timing1=None, can
         self.channel_info = "CANalyst-II: device {}, channels {}".format(self.device, self.channels)
 
         if baud is not None:
+            warnings.warn('Argument baud will be deprecated in version 4, use bitrate instead',
+                          PendingDeprecationWarning)
+            bitrate = baud
+
+        if bitrate is not None:
             try:
-                Timing0, Timing1 = TIMING_DICT[baud]
+                Timing0, Timing1 = TIMING_DICT[bitrate]
             except KeyError:
-                raise ValueError("Baudrate is not supported")
+                raise ValueError("Bitrate is not supported")
 
         if Timing0 is None or Timing1 is None:
             raise ValueError("Timing registers are not set")
diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py
index 4baee6177..530d7c524 100644
--- a/can/interfaces/ics_neovi/neovi_bus.py
+++ b/can/interfaces/ics_neovi/neovi_bus.py
@@ -334,11 +334,12 @@ def send(self, msg, timeout=None):
                 flag3 |= ics.SPY_STATUS3_CANFD_ESI
 
         message.ArbIDOrHeader = msg.arbitration_id
-        message.NumberBytesData = len(msg.data)
-        message.Data = tuple(msg.data[:8])
-        if msg.is_fd and len(msg.data) > 8:
+        msg_data = msg.data
+        message.NumberBytesData = len(msg_data)
+        message.Data = tuple(msg_data[:8])
+        if msg.is_fd and len(msg_data) > 8:
             message.ExtraDataPtrEnabled = 1
-            message.ExtraDataPtr = tuple(msg.data)
+            message.ExtraDataPtr = tuple(msg_data)
         message.StatusBitField = flag0
         message.StatusBitField2 = 0
         message.StatusBitField3 = flag3
diff --git a/can/interfaces/socketcan/constants.py b/can/interfaces/socketcan/constants.py
index b56eaae64..1fa6fdf72 100644
--- a/can/interfaces/socketcan/constants.py
+++ b/can/interfaces/socketcan/constants.py
@@ -9,8 +9,9 @@
 CAN_EFF_FLAG        = 0x80000000
 
 # BCM opcodes
-CAN_BCM_TX_SETUP    = 1
-CAN_BCM_TX_DELETE   = 2
+CAN_BCM_TX_SETUP   = 1
+CAN_BCM_TX_DELETE  = 2
+CAN_BCM_TX_READ    = 3
 
 # BCM flags
 SETTIMER            = 0x0001
diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py
index 633c87b22..b671f926a 100644
--- a/can/interfaces/socketcan/socketcan.py
+++ b/can/interfaces/socketcan/socketcan.py
@@ -346,8 +346,40 @@ def _tx_setup(self, message):
             count = 0
             ival1 = 0
             ival2 = self.period
-        header = build_bcm_transmit_header(self.can_id_with_flags, count, ival1,
-                                           ival2, self.flags)
+
+        # First do a TX_READ before creating a new task, and check if we get
+        # EINVAL. If so, then we are referring to a CAN message with the same
+        # ID
+        check_header = build_bcm_header(
+            opcode=CAN_BCM_TX_READ,
+            flags=0,
+            count=0,
+            ival1_seconds=0,
+            ival1_usec=0,
+            ival2_seconds=0,
+            ival2_usec=0,
+            can_id=self.can_id_with_flags,
+            nframes=0,
+        )
+        try:
+            self.bcm_socket.send(check_header)
+        except OSError as e:
+            if e.errno != errno.EINVAL:
+                raise e
+        else:
+            raise ValueError(
+                "A periodic Task for Arbitration ID {} has already been created".format(
+                    message.arbitration_id
+                )
+            )
+
+        header = build_bcm_transmit_header(
+            self.can_id_with_flags,
+            count,
+            ival1,
+            ival2,
+            self.flags
+        )
         frame = build_can_frame(message)
         log.debug("Sending BCM command")
         send_bcm(self.bcm_socket, header + frame)
diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py
index 251b9fa56..65af0147b 100644
--- a/can/interfaces/vector/canlib.py
+++ b/can/interfaces/vector/canlib.py
@@ -87,7 +87,7 @@ def __init__(self, channel, can_filters=None, poll_interval=0.01,
         else:
             # Assume comma separated string of channels
             self.channels = [int(ch.strip()) for ch in channel.split(',')]
-        self._app_name = app_name.encode() if app_name is not None else ''
+        self._app_name = app_name.encode() if app_name is not None else b''
         self.channel_info = 'Application %s: %s' % (
             app_name, ', '.join('CAN %d' % (ch + 1) for ch in self.channels))
 
diff --git a/can/io/asc.py b/can/io/asc.py
index 3ed50f04a..60f845bd0 100644
--- a/can/io/asc.py
+++ b/can/io/asc.py
@@ -28,7 +28,8 @@
 
 class ASCReader(BaseIOHandler):
     """
-    Iterator of CAN messages from a ASC logging file.
+    Iterator of CAN messages from a ASC logging file. Meta data (comments,
+    bus statistics, J1939 Transport Protocol messages) is ignored.
 
     TODO: turn relative timestamps back to absolute form
     """
@@ -58,9 +59,13 @@ def __iter__(self):
             temp = line.strip()
             if not temp or not temp[0].isdigit():
                 continue
-
+            is_fd = False
             try:
                 timestamp, channel, dummy = temp.split(None, 2) # , frameType, dlc, frameData
+                if channel == "CANFD":
+                    timestamp, _, channel, _, dummy = temp.split(None, 4)
+                    is_fd = True
+
             except ValueError:
                 # we parsed an empty comment
                 continue
@@ -77,7 +82,10 @@ def __iter__(self):
                               channel=channel)
                 yield msg
 
-            elif not isinstance(channel, int) or dummy.strip()[0:10].lower() == 'statistic:':
+            elif (not isinstance(channel, int)
+                  or dummy.strip()[0:10].lower() == 'statistic:'
+                  or dummy.split(None, 1)[0] == "J1939TP"
+            ):
                 pass
 
             elif dummy[-1:].lower() == 'r':
@@ -91,16 +99,32 @@ def __iter__(self):
                 yield msg
 
             else:
+                brs = None
+                esi = None
+                data_length = 0
                 try:
-                    # this only works if dlc > 0 and thus data is availabe
-                    can_id_str, _, _, dlc, data = dummy.split(None, 4)
+                    # this only works if dlc > 0 and thus data is available
+                    if not is_fd:
+                        can_id_str, _, _, dlc, data = dummy.split(None, 4)
+                    else:
+                        can_id_str, frame_name, brs, esi, dlc, data_length, data = dummy.split(
+                            None, 6
+                        )
+                        if frame_name.isdigit():
+                            # Empty frame_name
+                            can_id_str, brs, esi, dlc, data_length, data = dummy.split(
+                                None, 5
+                            )
                 except ValueError:
                     # but if not, we only want to get the stuff up to the dlc
                     can_id_str, _, _, dlc       = dummy.split(None, 3)
                     # and we set data to an empty sequence manually
                     data = ''
-
-                dlc = int(dlc)
+                dlc = int(dlc, 16)
+                if is_fd:
+                    # For fd frames, dlc and data length might not be equal and
+                    # data_length is the actual size of the data
+                    dlc = int(data_length)
                 frame = bytearray()
                 data = data.split()
                 for byte in data[0:dlc]:
@@ -115,7 +139,10 @@ def __iter__(self):
                     is_remote_frame=False,
                     dlc=dlc,
                     data=frame,
-                    channel=channel
+                    is_fd=is_fd,
+                    channel=channel,
+                    bitrate_switch=is_fd and brs == "1",
+                    error_state_indicator=is_fd and esi == "1",
                 )
 
         self.stop()
diff --git a/can/io/blf.py b/can/io/blf.py
index d162fdebc..91f2945c9 100644
--- a/can/io/blf.py
+++ b/can/io/blf.py
@@ -195,8 +195,11 @@ def __iter__(self):
                         raise BLFParseError()
 
                     obj_size = header[3]
+                    obj_type = header[4]
                     # Calculate position of next object
-                    next_pos = pos + obj_size + (obj_size % 4)
+                    next_pos = pos + obj_size
+                    if obj_type != CAN_FD_MESSAGE_64:
+                        next_pos += obj_size % 4
                     if next_pos > len(data):
                         # Object continues in next log container
                         break
@@ -222,7 +225,6 @@ def __iter__(self):
                         factor = 1e-9
                     timestamp = timestamp * factor + self.start_timestamp
 
-                    obj_type = header[4]
                     # Both CAN message types have the same starting content
                     if obj_type in (CAN_MESSAGE, CAN_MESSAGE2):
                         (channel, flags, dlc, can_id,
diff --git a/can/io/canutils.py b/can/io/canutils.py
index 69c0227a4..b5cec0cb5 100644
--- a/can/io/canutils.py
+++ b/can/io/canutils.py
@@ -62,7 +62,7 @@ def __iter__(self):
             else:
                 isExtended = False
             canId = int(canId, 16)
-
+            dataBin = None
             if data and data[0].lower() == 'r':
                 isRemoteFrame = True
                 if len(data) > 1:
diff --git a/can/io/csv.py b/can/io/csv.py
index 92f841f8f..32e34d0fb 100644
--- a/can/io/csv.py
+++ b/can/io/csv.py
@@ -91,7 +91,11 @@ def __init__(self, file):
 
     def __iter__(self):
         # skip the header line
-        next(self.file)
+        try:
+            next(self.file)
+        except StopIteration:
+            # don't crash on a file with only a header
+            return
 
         for line in self.file:
 
diff --git a/can/player.py b/can/player.py
index c712f1714..2b1864a36 100644
--- a/can/player.py
+++ b/can/player.py
@@ -47,6 +47,12 @@ def main():
                         help='''Ignore timestamps (send all frames immediately with minimum gap between frames)''',
                         action='store_false')
 
+    parser.add_argument(
+        "--error-frames",
+        help="Also send error frames to the interface.",
+        action="store_true",
+    )
+
     parser.add_argument('-g', '--gap', type=float, help='''<s> minimum time between replayed frames''',
                         default=0.0001)
     parser.add_argument('-s', '--skip', type=float, default=60*60*24,
@@ -68,6 +74,8 @@ def main():
     logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
     can.set_logging_level(logging_level_name)
 
+    error_frames = results.error_frames
+
     config = {"single_handle": True}
     if results.interface:
         config["interface"] = results.interface
@@ -84,6 +92,8 @@ def main():
 
     try:
         for m in in_sync:
+            if m.is_error_frame and not error_frames:
+                continue
             if verbosity >= 3:
                 print(m)
             bus.send(m)
diff --git a/doc/configuration.rst b/doc/configuration.rst
index dda2ace2a..142e816da 100644
--- a/doc/configuration.rst
+++ b/doc/configuration.rst
@@ -126,3 +126,7 @@ Lookup table of interface names:
 +---------------------+-------------------------------------+
 | ``"virtual"``       | :doc:`interfaces/virtual`           |
 +---------------------+-------------------------------------+
+| ``"canalystii"``    | :doc:`interfaces/canalystii`        |
++---------------------+-------------------------------------+
+| ``"systec"``        | :doc:`interfaces/systec`            |
++---------------------+-------------------------------------+
diff --git a/setup.py b/setup.py
index 27121b61a..e5b05e8dc 100644
--- a/setup.py
+++ b/setup.py
@@ -33,11 +33,14 @@
     'mock~=2.0',
     'pytest~=4.3',
     'pytest-timeout~=1.3',
-    'pytest-cov~=2.6',
+    'pytest-cov~=2.8',
+    # coveragepy==5.0 fails with `Safety level may not be changed inside a transaction`
+    # on python 3.6 on MACOS
+    'coverage<5',
     'codecov~=2.0',
     'future',
     'six',
-    'hypothesis'
+    'hypothesis~=4.56'
 ] + extras_require['serial']
 
 extras_require['test'] = tests_require
@@ -87,7 +90,7 @@
 
     # Code
     version=version,
-    packages=find_packages(exclude=["test", "doc", "scripts", "examples"]),
+    packages=find_packages(exclude=["test*", "doc", "scripts", "examples"]),
     scripts=list(filter(isfile, (join("scripts/", f) for f in listdir("scripts/")))),
 
     # Author
diff --git a/test/data/logfile.asc b/test/data/logfile.asc
index 4b7c64363..b855811a2 100644
--- a/test/data/logfile.asc
+++ b/test/data/logfile.asc
@@ -1,18 +1,28 @@
-date Sam Sep 30 15:06:13.191 2017
-base hex  timestamps absolute
-internal events logged
-// version 9.0.0
-Begin Triggerblock Sam Sep 30 15:06:13.191 2017
-   0.000000 Start of measurement
-   0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0
-   0.015991 CAN 2 Status:chip status error active
-   1.015991 1  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
-   1.015991 2  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
-   2.015992 1  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
-  17.876707 CAN 1 Status:chip status error passive - TxErr: 131 RxErr: 0
-  17.876708 1  6F9             Rx   d 8 05 0C 00 00 00 00 00 00  Length = 240015 BitCount = 124 ID = 1785
-  17.876976 1  6F8             Rx   d 8 FF 00 0C FE 00 00 00 00  Length = 239910 BitCount = 124 ID = 1784
-  18.015997 1  Statistic: D 2 R 0 XD 0 XR 0 E 0 O 0 B 0.04%
-  113.016026 1  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
- 113.016026 2  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
-End TriggerBlock
+date Sam Sep 30 15:06:13.191 2017
+base hex  timestamps absolute
+internal events logged
+// version 9.0.0
+Begin Triggerblock Sam Sep 30 15:06:13.191 2017
+   0.000000 Start of measurement
+   0.015991 CAN 1 Status:chip status error passive - TxErr: 132 RxErr: 0
+   0.015991 CAN 2 Status:chip status error active
+   1.015991 1  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
+   1.015991 2  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
+   2.015992 1  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
+   3.098426 1  18EBFF00x       Rx d 8 01 A0 0F A6 60 3B D1 40    Length = 273910 BitCount = 141 ID = 418119424x
+   3.148421 1  18EBFF00x       Rx d 8 02 1F DE 80 25 DF C0 2B    Length = 271910 BitCount = 140 ID = 418119424x
+   3.197693 1  18EBFF00x       Rx d 8 03 E1 00 4B FF FF 3C 0F    Length = 283910 BitCount = 146 ID = 418119424x
+   3.248765 1  18EBFF00x       Rx d 8 04 00 4B FF FF FF FF FF    Length = 283910 BitCount = 146 ID = 418119424x
+   3.297743 1  J1939TP FEE3p        6    0  0   -   Rx   d 23 A0 0F A6 60 3B D1 40 1F DE 80 25 DF C0 2B E1 00 4B FF FF 3C 0F 00 4B FF FF FF FF FF FF FF FF FF FF FF FF
+  17.876707 CAN 1 Status:chip status error passive - TxErr: 131 RxErr: 0
+  17.876708 1  6F9             Rx   d 8 05 0C 00 00 00 00 00 00  Length = 240015 BitCount = 124 ID = 1785
+  17.876976 1  6F8             Rx   d 8 FF 00 0C FE 00 00 00 00  Length = 239910 BitCount = 124 ID = 1784
+  18.015997 1  Statistic: D 2 R 0 XD 0 XR 0 E 0 O 0 B 0.04%
+  20.105214 2  18EBFF00x       Rx   d 8 01 A0 0F A6 60 3B D1 40  Length = 273925 BitCount = 141 ID = 418119424x
+  20.155119 2  18EBFF00x       Rx   d 8 02 1F DE 80 25 DF C0 2B  Length = 272152 BitCount = 140 ID = 418119424x
+  20.204671 2  18EBFF00x       Rx   d 8 03 E1 00 4B FF FF 3C 0F  Length = 283910 BitCount = 146 ID = 418119424x
+  20.248887 2  18EBFF00x       Rx   d 8 04 00 4B FF FF FF FF FF  Length = 283925 BitCount = 146 ID = 418119424x
+  20.305233 2  J1939TP FEE3p        6    0  0   -   Rx   d 23 A0 0F A6 60 3B D1 40 1F DE 80 25 DF C0 2B E1 00 4B FF FF 3C 0F 00 4B FF FF FF FF FF FF FF FF FF FF FF FF
+  113.016026 1  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
+ 113.016026 2  Statistic: D 0 R 0 XD 0 XR 0 E 0 O 0 B 0.00%
+End TriggerBlock
diff --git a/test/logformats_test.py b/test/logformats_test.py
index d9551e5d6..41bf2e9c4 100644
--- a/test/logformats_test.py
+++ b/test/logformats_test.py
@@ -315,7 +315,7 @@ class TestAscFileFormat(ReaderWriterTest):
     def _setup_instance(self):
         super(TestAscFileFormat, self)._setup_instance_helper(
             can.ASCWriter, can.ASCReader,
-            check_fd=False,
+            check_fd=True,
             check_comments=True,
             preserves_channel=False, adds_default_channel=0
         )