git.rot13.org Git - goodfet/blob - client/GoodFETMCPCANCommunication.py

   1 #!/usr/bin/env python
   2 # GoodFET SPI Flash Client
   3 #
   4 # (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
   5 #
   6 #
   7 # Ted's working copy
   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
  11 #
  12 #
  13
  14 import sys;
  15 import binascii;
  16 import array;
  17 import csv, time, argparse;
  18 import datetime
  19 import os
  20 from random import randrange
  21 from GoodFETMCPCAN import GoodFETMCPCAN;
  22 from intelhex import IntelHex;
  23
  24 class GoodFETMCPCANCommunication:
  25
  26     def __init__(self):
  27        self.client=GoodFETMCPCAN();
  28        self.client.serInit()
  29        self.client.MCPsetup();
  30        self.DATALOCATION = "../../contrib/ThayerData/"
  31
  32
  33
  34     def printInfo(self):
  35
  36         self.client.MCPreqstatConfiguration();
  37
  38         print "MCP2515 Info:\n\n";
  39
  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);
  46
  47         print "Timing Info:";
  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);
  53
  54         print "RX Info:";
  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));
  59
  60
  61         print "RX Buffers:"
  62         packet0=self.client.readrxbuffer(0);
  63         packet1=self.client.readrxbuffer(1);
  64         for foo in [packet0, packet1]:
  65            print self.client.packet2str(foo);
  66
  67     def reset(self):
  68         self.client.MCPsetup();
  69
  70
  71     ##########################
  72     #   SNIFF
  73     ##########################
  74
  75     def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True):
  76
  77         #reset eveything on the chip
  78         self.client.serInit()
  79         self.reset()
  80
  81         #### ON-CHIP FILTERING
  82         if(standardid != None):
  83             if( comment == None):
  84                 comment = ""
  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
  93
  94             for filter,ID in enumerate(standardid):
  95
  96                if (filter==0):
  97                 RXFSIDH = 0x00;
  98                 RXFSIDL = 0x01;
  99                elif (filter==1):
 100                 RXFSIDH = 0x04;
 101                 RXFSIDL = 0x05;
 102                elif (filter==2):
 103                 RXFSIDH = 0x08;
 104                 RXFSIDL = 0x09;
 105                elif (filter==3):
 106                 RXFSIDH = 0x10;
 107                 RXFSIDL = 0x11;
 108                elif (filter==4):
 109                 RXFSIDH = 0x14;
 110                 RXFSIDL = 0x15;
 111                else:
 112                 RXFSIDH = 0x18;
 113                 RXFSIDL = 0x19;
 114
 115                #### split SID into different regs
 116                SIDlow = (ID & 0x03) << 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
 118
 119                #write SID to regs
 120                self.client.poke8(RXFSIDH,SIDhigh);
 121                self.client.poke8(RXFSIDL, SIDlow);
 122
 123                if (verbose == True):
 124                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 125                comment += ("f%d" %(ID))
 126
 127
 128         self.client.MCPsetrate(freq);
 129
 130         # This will handle the files so that we do not loose them. each day we will create a new csv file
 131         if( filename==None):
 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"
 136             filename = path
 137
 138
 139         outfile = open(filename,'a');
 140         dataWriter = csv.writer(outfile,delimiter=',');
 141         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 142         dataWriter.writerow(['#' + description])
 143
 144         self.client.MCPreqstatNormal();
 145         print "Listening...";
 146         packetcount = 0;
 147         starttime = time.time();
 148
 149         while((time.time()-starttime < duration)):
 150
 151             if(faster):
 152                 packet=self.client.fastrxpacket();
 153             else:
 154                 packet=self.client.rxpacket();
 155
 156             if(debug == True):
 157                 #check packet status
 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."
 169
 170             if packet!=None:
 171
 172                 packetcount+=1;
 173                 row = [];
 174                 row.append("%f"%time.time());
 175
 176                 if( verbose==True):
 177                     #if we want to print a parsed message
 178                     if( parsed == True):
 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
 187                         msg += " data:"
 188                         for i in range(0,length):
 189                             dbidx = 'db%d'%i
 190                             msg +=" %03d"% ord(packetParsed[dbidx])
 191                         print msg
 192                     # if we want to print just the message as it is read off the chip
 193                     else:
 194                         print self.client.packet2str(packet)
 195
 196                 if(debug == True):
 197
 198                     #check overflow
 199                     MCPeflgReg=self.client.peek8(0x2D);
 200                     print"EFLG register equals: %x" %MCPeflgReg;
 201                     if((MCPeflgReg & 0xC0)==0xC0):
 202                         print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
 203                     elif(MCPeflgReg & 0x80):
 204                         print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
 205                     elif(MCPeflgReg & 0x40):
 206                         print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
 207                     self.client.MCPbitmodify(0x2D,0xC0,0x00);
 208                     print"EFLG register set to: %x" % self.client.peek(0x2D);
 209
 210                     #check for errors
 211                     if (self.client.peek8(0x2C) & 0x80):
 212                         self.client.MCPbitmodify(0x2C,0x80,0x00);
 213                         print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
 214                         row.append(1);
 215                     else:
 216                         row.append(0);
 217                 else:
 218                     row.append(0);  #since we don't check for errors if we're not in debug mode...
 219
 220                 row.append(comment)
 221                 #how long the sniff was for
 222                 row.append(duration)
 223                 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
 224                 if(standardid != None):
 225                     row.append(1)
 226                 else:
 227                     row.append(0)
 228                 #write packet to file
 229                 for byte in packet:
 230                     row.append("%02x"%ord(byte));
 231                 dataWriter.writerow(row);
 232
 233         outfile.close()
 234         print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
 235         return packetcount
 236
 237
 238     def filterStdSweep(self, freq, low, high, time = 5):
 239         msgIDs = []
 240         self.client.serInit()
 241         self.client.MCPsetup()
 242         for i in range(low, high, 6):
 243             print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
 244             comment= "sweepFilter: "
 245             #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
 246             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)
 247             count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
 248             if( count != 0):
 249                 for j in range(i,i+5):
 250                     comment = "sweepFilter: "
 251                     #comment = "sweepFilter: %d" % (j)
 252                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
 253                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
 254                     if( count != 0):
 255                         msgIDs.append(j)
 256         return msgIDs
 257
 258     def sweepRandom(self, freq, number = 5, time = 200):
 259         msgIDs = []
 260         ids = []
 261         self.client.serInit()
 262         self.client.MCPsetup()
 263         for i in range(0,number,6):
 264             idsTemp = []
 265             comment = "sweepFilter: "
 266             for j in range(0,6,1):
 267                 id = randrange(2047)
 268                 #comment += "_%d" % id
 269                 idsTemp.append(id)
 270                 ids.append(id)
 271             print comment
 272             description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
 273             count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
 274             if( count != 0):
 275                 for element in idsTemp:
 276                     #comment = "sweepFilter: %d" % (element)
 277                     comment="sweepFilter: "
 278                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
 279                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
 280                     if( count != 0):
 281                         msgIDs.append(j)
 282         return msgIDs, ids
 283
 284     def sniffTest(self, freq):
 285
 286         rate = freq;
 287
 288         print "Calling MCPsetrate for %i." %rate;
 289         self.client.MCPsetrate(rate);
 290         self.client.MCPreqstatNormal();
 291
 292         print "Mode: %s" % self.client.MCPcanstatstr();
 293         print "CNF1: %02x" %self.client.peek8(0x2a);
 294         print "CNF2: %02x" %self.client.peek8(0x29);
 295         print "CNF3: %02x\n" %self.client.peek8(0x28);
 296
 297         while(1):
 298             packet=self.client.rxpacket();
 299
 300             if packet!=None:
 301                 if (self.client.peek8(0x2C) & 0x80):
 302                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 303                     print "malformed packet recieved: "+ self.client.packet2str(packet);
 304                 else:
 305                     print "properly formatted packet recieved" + self.client.packet2str(packet);
 306
 307
 308     def freqtest(self,freq):
 309
 310         self.client.MCPsetup();
 311
 312         self.client.MCPsetrate(freq);
 313         self.client.MCPreqstatListenOnly();
 314
 315         print "CAN Freq Test: %3d kHz" %freq;
 316
 317         x = 0;
 318         errors = 0;
 319
 320         starttime = time.time();
 321         while((time.time()-starttime < args.time)):
 322             packet=self.client.rxpacket();
 323             if packet!=None:
 324                 x+=1;
 325
 326                 if (self.client.peek8(0x2C) & 0x80):
 327                     print "malformed packet recieved"
 328                     errors+=1;
 329                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 330                 else:
 331                     print self.client.packet2str(packet);
 332
 333         print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
 334
 335
 336     def isniff(self,freq):
 337         """ An intelligent sniffer, decodes message format """
 338         """ More features to be added soon """
 339
 340         self.client.MCPsetrate(freq);
 341         self.client.MCPreqstatListenOnly();
 342         while 1:
 343             packet=self.client.rxpacket();
 344             if packet!=None:
 345                 plist=[];
 346                 for byte in packet:
 347                     plist.append(byte);
 348                 arbid=plist[0:2];
 349                 eid=plist[2:4];
 350                 dlc=plist[4:5];
 351                 data=plist[5:13];
 352                 print "\nArbID: " + self.client.packet2str(arbid);
 353                 print "EID: " + self.client.packet2str(eid);
 354                 print "DLC: " + self.client.packet2str(dlc);
 355                 print "Data: " + self.client.packet2str(data);
 356
 357     def test(self):
 358
 359         comm.reset();
 360         print "Just reset..."
 361         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 362         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 363         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 364         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 365         self.client.MCPreqstatConfiguration();
 366         self.client.poke8(0x60,0x66);
 367         self.client.MCPsetrate(500);
 368         self.client.MCPreqstatNormal();
 369         print "In normal mode now"
 370         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 371         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 372         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 373         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 374         print "Waiting on packets.";
 375         checkcount = 0;
 376         packet=None;
 377         while(1):
 378             packet=self.client.rxpacket();
 379             if packet!=None:
 380                 print "Message recieved: %s" % self.client.packet2str(packet);
 381             else:
 382                 checkcount=checkcount+1;
 383                 if (checkcount%30==0):
 384                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 385                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 386                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 387                     print "CANINTF: %02x"  %self.client.peek8(0x2C);
 388
 389
 390
 391     def spitSetup(self,freq):
 392         self.reset();
 393         self.client.MCPsetrate(freq);
 394         self.client.MCPreqstatNormal();
 395
 396     def spit(self,freq, standardid,debug, packet = None):
 397
 398         #comm.reset();
 399         #self.client.MCPsetrate(freq);
 400         #self.client.MCPreqstatNormal();
 401
 402         print "initial state:"
 403         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 404         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 405         print "Error Flags:  %02x\n" % self.client.peek8(0x2d);
 406         print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 407         print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 408         print "\n\nATTEMPTING TRANSMISSION!!!"
 409
 410
 411         #### split SID into different regs
 412         SIDlow = (standardid[0] & 0x03) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 413         SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 414
 415         #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 416         #          0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 417         #          # lower nibble is DLC
 418         #          0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
 419
 420         if(packet == None):
 421             packetE = [SIDhigh, SIDlow | 0x80, 0x00,0x00, # pad out EID regs
 422                       0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 423                       # lower nibble is DLC
 424                     0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
 425         else:
 426             #packetE = [SIDhigh, SIDlow | 0x80, 0x00,0x00, # pad out EID regs
 427             #          0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 428             #          # lower nibble is DLC
 429             #          packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
 430             packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 431                   0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 432                   # lower nibble is DLC
 433                  packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
 434
 435
 436         self.client.txpacket(packet);
 437
 438         checkcount = 0;
 439         TXB0CTRL = self.client.peek8(0x30);
 440
 441         while(TXB0CTRL | 0x00 != 0x00):
 442             checkcount+=1;
 443             TXB0CTRL = self.client.peek8(0x30);
 444             if (checkcount %30 ==0):
 445                 print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 446                 print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 447                 print "EFLG register:  %02x" % self.client.peek8(0x2d);
 448                 print "TXB0CTRL: %02x" %TXB0CTRL;
 449                 print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 450
 451
 452     def setRate(self,freq):
 453         self.client.MCPsetrate(freq);
 454
 455
 456
 457
 458 if __name__ == "__main__":
 459
 460     parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
 461
 462         Run commands on the MCP2515. Valid commands are:
 463
 464             info
 465             test
 466             peek 0x(start) [0x(stop)]
 467             reset
 468
 469             sniff
 470             freqtest
 471             snifftest
 472             spit
 473         ''')
 474
 475
 476     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
 477     parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
 478     parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
 479     parser.add_argument('-o', '--output', default=None,help='Output file');
 480     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
 481     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
 482     parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
 483     parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
 484     parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
 485     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);
 486
 487
 488     args = parser.parse_args();
 489     freq = args.freq
 490     duration = args.time
 491     filename = args.output
 492     description = args.description
 493     verbose = args.verbose
 494     comments = args.comment
 495     debug = args.debug
 496     standardid = args.standardid
 497     faster=args.faster
 498
 499     comm = GoodFETMCPCANCommunication();
 500
 501     ##########################
 502     #   INFO
 503     ##########################
 504     #
 505     # Prints MCP state info
 506     #
 507     if(args.verb=="info"):
 508         comm.printInfo()
 509
 510
 511     ##########################
 512     #   RESET
 513     ##########################
 514     #
 515     #
 516
 517     if(args.verb=="reset"):
 518         comm.reset()
 519
 520     ##########################
 521     #   SNIFF
 522     ##########################
 523     #
 524     #   runs in ListenOnly mode
 525     #   utility function to pull info off the car's CAN bus
 526     #
 527
 528     if(args.verb=="sniff"):
 529         comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
 530
 531     ##########################
 532     #   SNIFF TEST
 533     ##########################
 534     #
 535     #   runs in NORMAL mode
 536     #   intended for NETWORKED MCP chips to verify proper operation
 537     #
 538
 539     if(args.verb=="snifftest"):
 540         comm.sniffTest(freq=freq)
 541
 542
 543     ##########################
 544     #   FREQ TEST
 545     ##########################
 546     #
 547     #   runs in LISTEN ONLY mode
 548     #   tests bus for desired frequency --> sniffs bus for specified length of time and reports
 549     #   if packets were properly formatted
 550     #
 551     #
 552
 553     if(args.verb=="freqtest"):
 554         comm.freqtest(freq=freq)
 555
 556
 557
 558     ##########################
 559     #   iSniff
 560     ##########################
 561     #
 562     #    """ An intelligent sniffer, decodes message format """
 563     #    """ More features to be added soon """
 564     if(args.verb=="isniff"):
 565         comm.isniff(freq=freq)
 566
 567
 568     ##########################
 569     #   MCP TEST
 570     ##########################
 571     #
 572     #   Runs in LOOPBACK mode
 573     #   self-check diagnostic
 574     #   wasn't working before due to improperly formatted packet
 575     #
 576     #   ...add automatic packet check rather than making user verify successful packet
 577     if(args.verb=="test"):
 578         comm.test()
 579
 580     if(args.verb=="peek"):
 581         start=0x0000;
 582         if(len(sys.argv)>2):
 583             start=int(sys.argv[2],16);
 584         stop=start;
 585         if(len(sys.argv)>3):
 586             stop=int(sys.argv[3],16);
 587         print "Peeking from %04x to %04x." % (start,stop);
 588         while start<=stop:
 589             print "%04x: %02x" % (start,client.peek8(start));
 590             start=start+1;
 591
 592     ##########################
 593     #   SPIT
 594     ##########################
 595     #
 596     #   Basic packet transmission
 597     #   runs in NORMAL MODE!
 598     #
 599     #   checking TX error flags--> currently throwing error flags on every
 600     #   transmission (travis thinks this is because we're sniffing in listen-only
 601     #   and thus not generating an ack bit on the recieving board)
 602     if(args.verb=="spit"):
 603         comm.spit(freq=freq, standardid=standardid, debug=debug)
 604
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