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;
25 class GoodFETMCPCANCommunication:
28 self.client=GoodFETMCPCAN();
30 self.client.MCPsetup();
31 self.DATALOCATION = "../../contrib/ThayerData/"
37 self.client.MCPreqstatConfiguration();
39 print "MCP2515 Info:\n\n";
41 print "Mode: %s" % self.client.MCPcanstatstr();
42 print "Read Status: %02x" % self.client.MCPreadstatus();
43 print "Rx Status: %02x" % self.client.MCPrxstatus();
44 print "Error Flags: %02x" % self.client.peek8(0x2D);
45 print "Tx Errors: %3d" % self.client.peek8(0x1c);
46 print "Rx Errors: %3d\n" % self.client.peek8(0x1d);
49 print "CNF1: %02x" %self.client.peek8(0x2a);
50 print "CNF2: %02x" %self.client.peek8(0x29);
51 print "CNF3: %02x\n" %self.client.peek8(0x28);
52 print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
53 print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
56 print "RXB0: %02x" %self.client.peek8(0x60);
57 print "RXB1: %02x" %self.client.peek8(0x70);
58 print "RXB0 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x20), self.client.peek8(0x21), self.client.peek8(0x22), self.client.peek8(0x23));
59 print "RXB1 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x24), self.client.peek8(0x25), self.client.peek8(0x26), self.client.peek8(0x27));
63 packet0=self.client.readrxbuffer(0);
64 packet1=self.client.readrxbuffer(1);
65 for foo in [packet0, packet1]:
66 print self.client.packet2str(foo);
69 self.client.MCPsetup();
72 ##########################
74 ##########################
76 def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True, data = None,writeToFile=True):
78 #reset eveything on the chip
82 #### ON-CHIP FILTERING
83 if(standardid != None):
86 self.client.MCPreqstatConfiguration();
87 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
88 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
89 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
90 if(len(standardid)>2):
91 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
92 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
93 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
95 for filter,ID in enumerate(standardid):
116 #### split SID into different regs
117 SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
118 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
121 self.client.poke8(RXFSIDH,SIDhigh);
122 self.client.poke8(RXFSIDL, SIDlow);
124 if (verbose == True):
125 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
126 comment += ("f%d" %(ID))
129 self.client.MCPsetrate(freq);
131 # This will handle the files so that we do not loose them. each day we will create a new csv file
132 if( filename==None and writeToFile == True):
133 #get folder information (based on today's date)
134 now = datetime.datetime.now()
135 datestr = now.strftime("%Y%m%d")
136 path = self.DATALOCATION+datestr+".csv"
139 if( writeToFile == True):
140 outfile = open(filename,'a');
141 dataWriter = csv.writer(outfile,delimiter=',');
142 dataWriter.writerow(['# Time Error Bytes 1-13']);
143 dataWriter.writerow(['#' + description])
145 self.client.MCPreqstatNormal();
146 print "Listening...";
148 starttime = time.time();
150 while((time.time()-starttime < duration)):
153 packet=self.client.fastrxpacket();
155 packet=self.client.rxpacket();
157 #add the data to list if the pointer was included
158 if(data != None and packet != None):
159 #data.append(self.client.packet2parsedstr(packet))
160 packetParsed = self.client.packet2parsed(packet)
161 packetParsed["time"] =time.time()
162 data.put(packetParsed)
165 MCPstatusReg = self.client.MCPrxstatus();
166 messagestat=MCPstatusReg&0xC0;
167 messagetype=MCPstatusReg&0x18;
168 if(messagestat == 0xC0):
169 print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
170 elif(messagestat == 0x80):
171 print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
172 elif(messagestat == 0x40):
173 print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
174 elif(messagestat == 0x00):
175 print "No messages in buffers."
176 #check to see if there was a packet
179 if (packet!=None and writeToFile == True):
182 row.append("%f"%time.time());
185 #if we want to print a parsed message
187 packetParsed = self.client.packet2parsed(packet)
188 sId = packetParsed.get('sID')
189 msg = "sID: %04d" %sId
190 if( packetParsed.get('eID')):
191 msg += " eID: %d" %packetParsed.get('eID')
192 msg += " rtr: %d"%packetParsed['rtr']
193 length = packetParsed['length']
194 msg += " length: %d"%length
196 for i in range(0,length):
198 msg +=" %03d"% ord(packetParsed[dbidx])
199 #msg = self.client.packet2parsedstr(packet)
201 # if we want to print just the message as it is read off the chip
203 print self.client.packet2str(packet)
208 MCPeflgReg=self.client.peek8(0x2D);
209 print"EFLG register equals: %x" %MCPeflgReg;
210 if((MCPeflgReg & 0xC0)==0xC0):
211 print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
212 elif(MCPeflgReg & 0x80):
213 print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
214 elif(MCPeflgReg & 0x40):
215 print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
216 self.client.MCPbitmodify(0x2D,0xC0,0x00);
217 print"EFLG register set to: %x" % self.client.peek(0x2D);
220 if (self.client.peek8(0x2C) & 0x80):
221 self.client.MCPbitmodify(0x2C,0x80,0x00);
222 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
227 row.append(0); #since we don't check for errors if we're not in debug mode...
230 #how long the sniff was for
232 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
233 if(standardid != None):
237 #write packet to file
239 row.append("%02x"%ord(byte));
240 dataWriter.writerow(row);
241 if(writeToFile == True):
243 print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
247 # def filterStdSweep(self, freq, low, high, time = 5):
249 # self.client.serInit()
250 # self.client.MCPsetup()
251 # for i in range(low, high+1, 6):
252 # print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
253 # comment= "sweepFilter: "
254 # #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
255 # 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)
256 # count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
258 # for j in range(i,i+5):
259 # comment = "sweepFilter: "
260 # #comment = "sweepFilter: %d" % (j)
261 # description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
262 # count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
267 # def sweepRandom(self, freq, number = 5, time = 200):
270 # self.client.serInit()
271 # self.client.MCPsetup()
272 # for i in range(0,number+1,6):
274 # comment = "sweepFilter: "
275 # for j in range(0,6,1):
276 # id = randrange(2047)
277 # #comment += "_%d" % id
281 # description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
282 # count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
284 # for element in idsTemp:
285 # #comment = "sweepFilter: %d" % (element)
286 # comment="sweepFilter: "
287 # description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
288 # count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
293 def sniffTest(self, freq):
297 print "Calling MCPsetrate for %i." %rate;
298 self.client.MCPsetrate(rate);
299 self.client.MCPreqstatNormal();
301 print "Mode: %s" % self.client.MCPcanstatstr();
302 print "CNF1: %02x" %self.client.peek8(0x2a);
303 print "CNF2: %02x" %self.client.peek8(0x29);
304 print "CNF3: %02x\n" %self.client.peek8(0x28);
307 packet=self.client.rxpacket();
310 if (self.client.peek8(0x2C) & 0x80):
311 self.client.MCPbitmodify(0x2C,0x80,0x00);
312 print "malformed packet recieved: "+ self.client.packet2str(packet);
314 print "properly formatted packet recieved" + self.client.packet2str(packet);
317 def freqtest(self,freq):
319 self.client.MCPsetup();
321 self.client.MCPsetrate(freq);
322 self.client.MCPreqstatListenOnly();
324 print "CAN Freq Test: %3d kHz" %freq;
329 starttime = time.time();
330 while((time.time()-starttime < args.time)):
331 packet=self.client.rxpacket();
335 if (self.client.peek8(0x2C) & 0x80):
336 print "malformed packet recieved"
338 self.client.MCPbitmodify(0x2C,0x80,0x00);
340 print self.client.packet2str(packet);
342 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
345 def isniff(self,freq):
346 """ An intelligent sniffer, decodes message format """
347 """ More features to be added soon """
349 self.client.MCPsetrate(freq);
350 self.client.MCPreqstatListenOnly();
352 packet=self.client.rxpacket();
361 print "\nArbID: " + self.client.packet2str(arbid);
362 print "EID: " + self.client.packet2str(eid);
363 print "DLC: " + self.client.packet2str(dlc);
364 print "Data: " + self.client.packet2str(data);
369 print "Just reset..."
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 self.client.MCPreqstatConfiguration();
375 self.client.poke8(0x60,0x66);
376 self.client.MCPsetrate(500);
377 self.client.MCPreqstatNormal();
378 print "In normal mode now"
379 print "EFLG register: %02x" % self.client.peek8(0x2d);
380 print "Tx Errors: %3d" % self.client.peek8(0x1c);
381 print "Rx Errors: %3d" % self.client.peek8(0x1d);
382 print "CANINTF: %02x" %self.client.peek8(0x2C);
383 print "Waiting on packets.";
387 packet=self.client.rxpacket();
389 print "Message recieved: %s" % self.client.packet2str(packet);
391 checkcount=checkcount+1;
392 if (checkcount%30==0):
393 print "EFLG register: %02x" % self.client.peek8(0x2d);
394 print "Tx Errors: %3d" % self.client.peek8(0x1c);
395 print "Rx Errors: %3d" % self.client.peek8(0x1d);
396 print "CANINTF: %02x" %self.client.peek8(0x2C);
401 def addFilter(self,standardid, verbose= True):
403 ### ON-CHIP FILTERING
404 if(standardid != None):
405 self.client.MCPreqstatConfiguration();
406 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
407 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
408 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
409 if(len(standardid)>2):
410 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
411 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
412 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
414 for filter,ID in enumerate(standardid):
435 #### split SID into different regs
436 SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
437 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
440 self.client.poke8(RXFSIDH,SIDhigh);
441 self.client.poke8(RXFSIDL, SIDlow);
443 if (verbose == True):
444 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
446 self.client.MCPreqstatNormal();
451 def spitSetup(self,freq):
453 self.client.MCPsetrate(freq);
454 self.client.MCPreqstatNormal();
457 def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
458 self.spitSetup(freq);
459 spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
461 def spit(self,freq, standardid, repeat,writes, period = None, debug = False, packet = None):
464 #### split SID into different regs
465 SIDlow = (standardid[0] & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
466 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
470 # if no packet, RTR for inputted arbID
471 # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
472 packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
475 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
476 # 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
477 # # lower nibble is DLC
478 # 0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
481 # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
483 # TODO: allow for variable-length packets
485 packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
486 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
487 # lower nibble is DLC
488 packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
492 if self.client.MCPcanstat()>>5!=0:
493 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
494 print "\nInitial state:"
495 print "Tx Errors: %3d" % self.client.peek8(0x1c);
496 print "Rx Errors: %3d" % self.client.peek8(0x1d);
497 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
498 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
499 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
500 print "\n\nATTEMPTING TRANSMISSION!!!"
503 print "Transmitting packet: "
504 #print self.client.packet2str(packet)
506 self.client.txpacket(packet);
509 print "\nNow looping on transmit. "
511 for i in range(0,writes):
512 self.client.MCPrts(TXB0=True);
514 time.sleep(period/1000) # pause for period ms before sending again
515 print time.time()-tic
516 #starttime = time.time();
517 #while((time.time()-starttime < duration)):
518 # self.client.MCPrts(TXB0=True);
519 # print "MSG printed"
521 for i in range(0,writes):
522 self.client.MCPrts(TXB0=True);
523 print "messages injected"
528 TXB0CTRL = self.client.peek8(0x30);
530 print "Tx Errors: %3d" % self.client.peek8(0x1c);
531 print "Rx Errors: %3d" % self.client.peek8(0x1d);
532 print "EFLG register: %02x" % self.client.peek8(0x2d);
533 print "TXB0CTRL: %02x" %TXB0CTRL;
534 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
536 while(TXB0CTRL | 0x00 != 0x00):
538 TXB0CTRL = self.client.peek8(0x30);
539 if (checkcount %30 ==0):
540 print "Tx Errors: %3d" % self.client.peek8(0x1c);
541 print "Rx Errors: %3d" % self.client.peek8(0x1d);
542 print "EFLG register: %02x" % self.client.peek8(0x2d);
543 print "TXB0CTRL: %02x" %TXB0CTRL;
544 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
547 def setRate(self,freq):
548 self.client.MCPsetrate(freq);
551 # This will write the data provided in the packets which is expected to be a list of lists
552 # of the following form:
553 # for a given row = packets[i]
554 # row[0] time delay relative to the last packet. if 0 or empty there will be no delay
555 # row[1] = Standard ID (integer)
556 # row[2] = Data Length (0-8) (if it is zero we assume an Remote Transmit Request)
557 # row[3] = Data Byte 0
558 # row[4] = Data Byte 1
559 # .... up to Data Byte 8 ( THIS ASSUMES A PACKET OF LENGTH 8!!!
560 def writeData(self,packets,freq):
561 self.client.serInit()
564 if( row[0] != 0 and row[0] != ""):
567 #### split SID into different regs
568 SIDlow = (sID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
569 SIDhigh = (sID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
570 packet = [SIDhigh,SIDlow,0x00,0x00,0x08]
572 for i in range(4,dlc+4):
573 packet.append(row[i])
574 self.client.txpacket(packet)
580 if __name__ == "__main__":
582 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
584 Run commands on the MCP2515. Valid commands are:
588 peek 0x(start) [0x(stop)]
598 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
599 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
600 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
601 parser.add_argument('-o', '--output', default=None,help='Output file');
602 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
603 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
604 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
605 parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
606 parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
607 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);
608 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);
611 args = parser.parse_args();
614 filename = args.output
615 description = args.description
616 verbose = args.verbose
617 comments = args.comment
619 standardid = args.standardid
623 comm = GoodFETMCPCANCommunication();
625 ##########################
627 ##########################
629 # Prints MCP state info
631 if(args.verb=="info"):
635 ##########################
637 ##########################
641 if(args.verb=="reset"):
644 ##########################
646 ##########################
648 # runs in ListenOnly mode
649 # utility function to pull info off the car's CAN bus
652 if(args.verb=="sniff"):
653 comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
655 ##########################
657 ##########################
659 # runs in NORMAL mode
660 # intended for NETWORKED MCP chips to verify proper operation
663 if(args.verb=="snifftest"):
664 comm.sniffTest(freq=freq)
667 ##########################
669 ##########################
671 # runs in LISTEN ONLY mode
672 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
673 # if packets were properly formatted
677 if(args.verb=="freqtest"):
678 comm.freqtest(freq=freq)
682 ##########################
684 ##########################
686 # """ An intelligent sniffer, decodes message format """
687 # """ More features to be added soon """
688 if(args.verb=="isniff"):
689 comm.isniff(freq=freq)
692 ##########################
694 ##########################
696 # Runs in LOOPBACK mode
697 # self-check diagnostic
698 # wasn't working before due to improperly formatted packet
700 # ...add automatic packet check rather than making user verify successful packet
701 if(args.verb=="test"):
704 if(args.verb=="peek"):
707 start=int(sys.argv[2],16);
710 stop=int(sys.argv[3],16);
711 print "Peeking from %04x to %04x." % (start,stop);
713 print "%04x: %02x" % (start,client.peek8(start));
716 ##########################
718 ##########################
720 # Basic packet transmission
721 # runs in NORMAL MODE!
723 # checking TX error flags--> currently throwing error flags on every
724 # transmission (travis thinks this is because we're sniffing in listen-only
725 # and thus not generating an ack bit on the recieving board)
726 if(args.verb=="spit"):
727 comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)