2 # GoodFET SPI Flash Client
4 # (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
8 # 1) getting hot reads on frequency
9 # 2) allow sniffing in "normal" mode to get ack bits
10 # --check if that's whats causing error flags in board-to-board transmission
17 import csv, time, argparse;
20 from random import randrange
21 from GoodFETMCPCAN import GoodFETMCPCAN;
22 from intelhex import IntelHex;
24 class GoodFETMCPCANCommunication:
27 self.client=GoodFETMCPCAN();
29 self.client.MCPsetup();
30 self.DATALOCATION = "../../contrib/ThayerData/"
36 self.client.MCPreqstatConfiguration();
38 print "MCP2515 Info:\n\n";
40 print "Mode: %s" % self.client.MCPcanstatstr();
41 print "Read Status: %02x" % self.client.MCPreadstatus();
42 print "Rx Status: %02x" % self.client.MCPrxstatus();
43 print "Error Flags: %02x" % self.client.peek8(0x2D);
44 print "Tx Errors: %3d" % self.client.peek8(0x1c);
45 print "Rx Errors: %3d\n" % self.client.peek8(0x1d);
48 print "CNF1: %02x" %self.client.peek8(0x2a);
49 print "CNF2: %02x" %self.client.peek8(0x29);
50 print "CNF3: %02x\n" %self.client.peek8(0x28);
51 print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
52 print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
55 print "RXB0: %02x" %self.client.peek8(0x60);
56 print "RXB1: %02x" %self.client.peek8(0x70);
57 print "RXB0 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x20), self.client.peek8(0x21), self.client.peek8(0x22), self.client.peek8(0x23));
58 print "RXB1 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x24), self.client.peek8(0x25), self.client.peek8(0x26), self.client.peek8(0x27));
62 packet0=self.client.readrxbuffer(0);
63 packet1=self.client.readrxbuffer(1);
64 for foo in [packet0, packet1]:
65 print self.client.packet2str(foo);
68 self.client.MCPsetup();
71 ##########################
73 ##########################
75 def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True):
77 #reset eveything on the chip
81 #### ON-CHIP FILTERING
82 if(standardid != None):
85 self.client.MCPreqstatConfiguration();
86 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
87 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
88 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
89 if(len(standardid)>2):
90 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
91 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
92 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
94 for filter,ID in enumerate(standardid):
115 #### split SID into different regs
116 SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
117 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
120 self.client.poke8(RXFSIDH,SIDhigh);
121 self.client.poke8(RXFSIDL, SIDlow);
123 if (verbose == True):
124 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
125 comment += ("f%d" %(ID))
128 self.client.MCPsetrate(freq);
130 # This will handle the files so that we do not loose them. each day we will create a new csv file
132 #get folder information (based on today's date)
133 now = datetime.datetime.now()
134 datestr = now.strftime("%Y%m%d")
135 path = self.DATALOCATION+datestr+".csv"
139 outfile = open(filename,'a');
140 dataWriter = csv.writer(outfile,delimiter=',');
141 dataWriter.writerow(['# Time Error Bytes 1-13']);
142 dataWriter.writerow(['#' + description])
144 self.client.MCPreqstatNormal();
145 print "Listening...";
147 starttime = time.time();
149 while((time.time()-starttime < duration)):
152 packet=self.client.fastrxpacket();
154 packet=self.client.rxpacket();
158 MCPstatusReg = self.client.MCPrxstatus();
159 messagestat=MCPstatusReg&0xC0;
160 messagetype=MCPstatusReg&0x18;
161 if(messagestat == 0xC0):
162 print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
163 elif(messagestat == 0x80):
164 print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
165 elif(messagestat == 0x40):
166 print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
167 elif(messagestat == 0x00):
168 print "No messages in buffers."
174 row.append("%f"%time.time());
177 #if we want to print a parsed message
179 # packetParsed = self.client.packet2parsed(packet)
180 # sId = packetParsed.get('sID')
181 # msg = "sID: %04d" %sId
182 # if( packetParsed.get('eID')):
183 # msg += " eID: %d" %packetParsed.get('eID')
184 # msg += " rtr: %d"%packetParsed['rtr']
185 # length = packetParsed['length']
186 # msg += " length: %d"%length
188 # for i in range(0,length):
190 # msg +=" %03d"% ord(packetParsed[dbidx])
191 msg = self.client.packet2parsedstr(packet)
193 # if we want to print just the message as it is read off the chip
195 print self.client.packet2str(packet)
200 MCPeflgReg=self.client.peek8(0x2D);
201 print"EFLG register equals: %x" %MCPeflgReg;
202 if((MCPeflgReg & 0xC0)==0xC0):
203 print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
204 elif(MCPeflgReg & 0x80):
205 print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
206 elif(MCPeflgReg & 0x40):
207 print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
208 self.client.MCPbitmodify(0x2D,0xC0,0x00);
209 print"EFLG register set to: %x" % self.client.peek(0x2D);
212 if (self.client.peek8(0x2C) & 0x80):
213 self.client.MCPbitmodify(0x2C,0x80,0x00);
214 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
219 row.append(0); #since we don't check for errors if we're not in debug mode...
222 #how long the sniff was for
224 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
225 if(standardid != None):
229 #write packet to file
231 row.append("%02x"%ord(byte));
232 dataWriter.writerow(row);
235 print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
239 def filterStdSweep(self, freq, low, high, time = 5):
241 self.client.serInit()
242 self.client.MCPsetup()
243 for i in range(low, high+1, 6):
244 print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
245 comment= "sweepFilter: "
246 #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
247 description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
248 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
250 for j in range(i,i+5):
251 comment = "sweepFilter: "
252 #comment = "sweepFilter: %d" % (j)
253 description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
254 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
259 def sweepRandom(self, freq, number = 5, time = 200):
262 self.client.serInit()
263 self.client.MCPsetup()
264 for i in range(0,number+1,6):
266 comment = "sweepFilter: "
267 for j in range(0,6,1):
269 #comment += "_%d" % id
273 description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
274 count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
276 for element in idsTemp:
277 #comment = "sweepFilter: %d" % (element)
278 comment="sweepFilter: "
279 description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
280 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
285 def sniffTest(self, freq):
289 print "Calling MCPsetrate for %i." %rate;
290 self.client.MCPsetrate(rate);
291 self.client.MCPreqstatNormal();
293 print "Mode: %s" % self.client.MCPcanstatstr();
294 print "CNF1: %02x" %self.client.peek8(0x2a);
295 print "CNF2: %02x" %self.client.peek8(0x29);
296 print "CNF3: %02x\n" %self.client.peek8(0x28);
299 packet=self.client.rxpacket();
302 if (self.client.peek8(0x2C) & 0x80):
303 self.client.MCPbitmodify(0x2C,0x80,0x00);
304 print "malformed packet recieved: "+ self.client.packet2str(packet);
306 print "properly formatted packet recieved" + self.client.packet2str(packet);
309 def freqtest(self,freq):
311 self.client.MCPsetup();
313 self.client.MCPsetrate(freq);
314 self.client.MCPreqstatListenOnly();
316 print "CAN Freq Test: %3d kHz" %freq;
321 starttime = time.time();
322 while((time.time()-starttime < args.time)):
323 packet=self.client.rxpacket();
327 if (self.client.peek8(0x2C) & 0x80):
328 print "malformed packet recieved"
330 self.client.MCPbitmodify(0x2C,0x80,0x00);
332 print self.client.packet2str(packet);
334 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
337 def isniff(self,freq):
338 """ An intelligent sniffer, decodes message format """
339 """ More features to be added soon """
341 self.client.MCPsetrate(freq);
342 self.client.MCPreqstatListenOnly();
344 packet=self.client.rxpacket();
353 print "\nArbID: " + self.client.packet2str(arbid);
354 print "EID: " + self.client.packet2str(eid);
355 print "DLC: " + self.client.packet2str(dlc);
356 print "Data: " + self.client.packet2str(data);
361 print "Just reset..."
362 print "EFLG register: %02x" % self.client.peek8(0x2d);
363 print "Tx Errors: %3d" % self.client.peek8(0x1c);
364 print "Rx Errors: %3d" % self.client.peek8(0x1d);
365 print "CANINTF: %02x" %self.client.peek8(0x2C);
366 self.client.MCPreqstatConfiguration();
367 self.client.poke8(0x60,0x66);
368 self.client.MCPsetrate(500);
369 self.client.MCPreqstatNormal();
370 print "In normal mode now"
371 print "EFLG register: %02x" % self.client.peek8(0x2d);
372 print "Tx Errors: %3d" % self.client.peek8(0x1c);
373 print "Rx Errors: %3d" % self.client.peek8(0x1d);
374 print "CANINTF: %02x" %self.client.peek8(0x2C);
375 print "Waiting on packets.";
379 packet=self.client.rxpacket();
381 print "Message recieved: %s" % self.client.packet2str(packet);
383 checkcount=checkcount+1;
384 if (checkcount%30==0):
385 print "EFLG register: %02x" % self.client.peek8(0x2d);
386 print "Tx Errors: %3d" % self.client.peek8(0x1c);
387 print "Rx Errors: %3d" % self.client.peek8(0x1d);
388 print "CANINTF: %02x" %self.client.peek8(0x2C);
393 def addFilter(self,standardid,comment, verbose= True):
394 ### ON-CHIP FILTERING
395 if(standardid != None):
396 if( comment == None):
398 self.client.MCPreqstatConfiguration();
399 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
400 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
401 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
402 if(len(standardid)>2):
403 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
404 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
405 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
407 for filter,ID in enumerate(standardid):
428 #### split SID into different regs
429 SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
430 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
433 self.client.poke8(RXFSIDH,SIDhigh);
434 self.client.poke8(RXFSIDL, SIDlow);
436 if (verbose == True):
437 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
438 comment += ("f%d" %(ID))
442 # this will sweep through the given ids to request a packet and then sniff on that
443 # id for a given amount duration. This will be repeated the number of attempts time
445 #at the moment this is set to switch to the next id once a message is identified
446 def rtrSweep(self,freq,lowID,highID, attempts = 2,duration = 1, verbose = True):
447 self.client.serInit()
450 for i in range(lowID,highID+1, 1):
451 standardid = [i, i, i]
453 self.addFilter(standardid, comment, verbose = True)
454 #### split SID into different regs
455 SIDlow = (standardid[0] & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
456 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
458 packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
459 self.client.txpacket(packet)
460 ## listen for 2 packets. one should be the rtr we requested the other should be
461 ## a new packet response
462 packet1=self.client.rxpacket();
463 packet2=self.client.rxpacket();
464 if( packet1 != None and packet2 != None):
465 print "packets recieved :\n "
466 print self.client.packet2parsedstr(packet1);
467 print self.client.packet2parsedstr(packet2);
471 while( trial <= attempts):
472 self.client.MCPrts(TXB0=True);
473 starttime = time.time()
474 # this time we will sniff for the given amount of time to see if there is a
475 # time till the packets come in
476 while( time.time()-starttime < duration):
477 packet1=self.client.rxpacket();
478 packet2=self.client.rxpacket();
480 if( packet1 != None and packet2 != None):
481 print "packets recieved :\n "
482 print self.client.packet2parsedstr(packet1);
483 print self.client.packet2parsedstr(packet2);
486 def spitSetup(self,freq):
488 self.client.MCPsetrate(freq);
489 self.client.MCPreqstatNormal();
492 def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
493 self.spitSetup(freq);
494 spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
496 def spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
499 #### split SID into different regs
500 SIDlow = (standardid[0] & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
501 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
505 # if no packet, RTR for inputted arbID
506 # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
507 packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
510 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
511 # 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
512 # # lower nibble is DLC
513 # 0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
516 # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
518 # TODO: allow for variable-length packets
520 packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
521 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
522 # lower nibble is DLC
523 packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
527 if self.client.MCPcanstat()>>5!=0:
528 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
529 print "\nInitial state:"
530 print "Tx Errors: %3d" % self.client.peek8(0x1c);
531 print "Rx Errors: %3d" % self.client.peek8(0x1d);
532 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
533 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
534 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
535 print "\n\nATTEMPTING TRANSMISSION!!!"
538 print "Transmitting packet: "
539 print self.client.packet2str(packet)
541 self.client.txpacket(packet);
544 print "\nNow looping on transmit. "
546 starttime = time.time();
547 while((time.time()-starttime < duration)):
548 self.client.MCPrts(TXB0=True);
552 self.client.MCPrts(TXB0=True);
553 print "messages injected"
558 TXB0CTRL = self.client.peek8(0x30);
560 print "Tx Errors: %3d" % self.client.peek8(0x1c);
561 print "Rx Errors: %3d" % self.client.peek8(0x1d);
562 print "EFLG register: %02x" % self.client.peek8(0x2d);
563 print "TXB0CTRL: %02x" %TXB0CTRL;
564 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
566 while(TXB0CTRL | 0x00 != 0x00):
568 TXB0CTRL = self.client.peek8(0x30);
569 if (checkcount %30 ==0):
570 print "Tx Errors: %3d" % self.client.peek8(0x1c);
571 print "Rx Errors: %3d" % self.client.peek8(0x1d);
572 print "EFLG register: %02x" % self.client.peek8(0x2d);
573 print "TXB0CTRL: %02x" %TXB0CTRL;
574 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
577 def setRate(self,freq):
578 self.client.MCPsetrate(freq);
583 if __name__ == "__main__":
585 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
587 Run commands on the MCP2515. Valid commands are:
591 peek 0x(start) [0x(stop)]
601 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
602 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
603 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
604 parser.add_argument('-o', '--output', default=None,help='Output file');
605 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
606 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
607 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
608 parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
609 parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
610 parser.add_argument('-x', '--faster', action='store_true', help='-x will use "fast packet recieve," which may duplicate packets and/or cause other weird behavior.', default=False);
611 parser.add_argument('-r', '--repeat', action='store_true', help='-r with "spit" will continuously send the inputted packet. This will put the GoodTHOPTHER into an infinite loop.', default=False);
614 args = parser.parse_args();
617 filename = args.output
618 description = args.description
619 verbose = args.verbose
620 comments = args.comment
622 standardid = args.standardid
626 comm = GoodFETMCPCANCommunication();
628 ##########################
630 ##########################
632 # Prints MCP state info
634 if(args.verb=="info"):
638 ##########################
640 ##########################
644 if(args.verb=="reset"):
647 ##########################
649 ##########################
651 # runs in ListenOnly mode
652 # utility function to pull info off the car's CAN bus
655 if(args.verb=="sniff"):
656 comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
658 ##########################
660 ##########################
662 # runs in NORMAL mode
663 # intended for NETWORKED MCP chips to verify proper operation
666 if(args.verb=="snifftest"):
667 comm.sniffTest(freq=freq)
670 ##########################
672 ##########################
674 # runs in LISTEN ONLY mode
675 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
676 # if packets were properly formatted
680 if(args.verb=="freqtest"):
681 comm.freqtest(freq=freq)
685 ##########################
687 ##########################
689 # """ An intelligent sniffer, decodes message format """
690 # """ More features to be added soon """
691 if(args.verb=="isniff"):
692 comm.isniff(freq=freq)
695 ##########################
697 ##########################
699 # Runs in LOOPBACK mode
700 # self-check diagnostic
701 # wasn't working before due to improperly formatted packet
703 # ...add automatic packet check rather than making user verify successful packet
704 if(args.verb=="test"):
707 if(args.verb=="peek"):
710 start=int(sys.argv[2],16);
713 stop=int(sys.argv[3],16);
714 print "Peeking from %04x to %04x." % (start,stop);
716 print "%04x: %02x" % (start,client.peek8(start));
719 ##########################
721 ##########################
723 # Basic packet transmission
724 # runs in NORMAL MODE!
726 # checking TX error flags--> currently throwing error flags on every
727 # transmission (travis thinks this is because we're sniffing in listen-only
728 # and thus not generating an ack bit on the recieving board)
729 if(args.verb=="spit"):
730 comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)