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, data = None):
  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 & 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
 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             #add the data to list if the pointer was included
 157             if(data != None):
 158                 data.append(packet)
 159
 160             if(debug == True):
 161                 #check packet status
 162                 MCPstatusReg = self.client.MCPrxstatus();
 163                 messagestat=MCPstatusReg&0xC0;
 164                 messagetype=MCPstatusReg&0x18;
 165                 if(messagestat == 0xC0):
 166                     print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 167                 elif(messagestat == 0x80):
 168                     print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 169                 elif(messagestat == 0x40):
 170                     print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 171                 elif(messagestat == 0x00):
 172                     print "No messages in buffers."
 173
 174             if packet!=None:
 175
 176                 packetcount+=1;
 177                 row = [];
 178                 row.append("%f"%time.time());
 179
 180                 if( verbose==True):
 181                     #if we want to print a parsed message
 182                     if( parsed == True):
 183 #                        packetParsed = self.client.packet2parsed(packet)
 184 #                        sId = packetParsed.get('sID')
 185 #                        msg = "sID: %04d" %sId
 186 #                        if( packetParsed.get('eID')):
 187 #                            msg += " eID: %d" %packetParsed.get('eID')
 188 #                        msg += " rtr: %d"%packetParsed['rtr']
 189 #                        length = packetParsed['length']
 190 #                        msg += " length: %d"%length
 191 #                        msg += " data:"
 192 #                        for i in range(0,length):
 193 #                            dbidx = 'db%d'%i
 194 #                            msg +=" %03d"% ord(packetParsed[dbidx])
 195                         msg = self.client.packet2parsedstr(packet)
 196                         print msg
 197                     # if we want to print just the message as it is read off the chip
 198                     else:
 199                         print self.client.packet2str(packet)
 200
 201                 if(debug == True):
 202
 203                     #check overflow
 204                     MCPeflgReg=self.client.peek8(0x2D);
 205                     print"EFLG register equals: %x" %MCPeflgReg;
 206                     if((MCPeflgReg & 0xC0)==0xC0):
 207                         print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
 208                     elif(MCPeflgReg & 0x80):
 209                         print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
 210                     elif(MCPeflgReg & 0x40):
 211                         print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
 212                     self.client.MCPbitmodify(0x2D,0xC0,0x00);
 213                     print"EFLG register set to: %x" % self.client.peek(0x2D);
 214
 215                     #check for errors
 216                     if (self.client.peek8(0x2C) & 0x80):
 217                         self.client.MCPbitmodify(0x2C,0x80,0x00);
 218                         print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
 219                         row.append(1);
 220                     else:
 221                         row.append(0);
 222                 else:
 223                     row.append(0);  #since we don't check for errors if we're not in debug mode...
 224
 225                 row.append(comment)
 226                 #how long the sniff was for
 227                 row.append(duration)
 228                 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
 229                 if(standardid != None):
 230                     row.append(1)
 231                 else:
 232                     row.append(0)
 233                 #write packet to file
 234                 for byte in packet:
 235                     row.append("%02x"%ord(byte));
 236                 dataWriter.writerow(row);
 237
 238         outfile.close()
 239         print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
 240         return packetcount
 241
 242
 243     def filterStdSweep(self, freq, low, high, time = 5):
 244         msgIDs = []
 245         self.client.serInit()
 246         self.client.MCPsetup()
 247         for i in range(low, high+1, 6):
 248             print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
 249             comment= "sweepFilter: "
 250             #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
 251             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)
 252             count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
 253             if( count != 0):
 254                 for j in range(i,i+5):
 255                     comment = "sweepFilter: "
 256                     #comment = "sweepFilter: %d" % (j)
 257                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
 258                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
 259                     if( count != 0):
 260                         msgIDs.append(j)
 261         return msgIDs
 262
 263     def sweepRandom(self, freq, number = 5, time = 200):
 264         msgIDs = []
 265         ids = []
 266         self.client.serInit()
 267         self.client.MCPsetup()
 268         for i in range(0,number+1,6):
 269             idsTemp = []
 270             comment = "sweepFilter: "
 271             for j in range(0,6,1):
 272                 id = randrange(2047)
 273                 #comment += "_%d" % id
 274                 idsTemp.append(id)
 275                 ids.append(id)
 276             print comment
 277             description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
 278             count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
 279             if( count != 0):
 280                 for element in idsTemp:
 281                     #comment = "sweepFilter: %d" % (element)
 282                     comment="sweepFilter: "
 283                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
 284                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
 285                     if( count != 0):
 286                         msgIDs.append(j)
 287         return msgIDs, ids
 288
 289     def sniffTest(self, freq):
 290
 291         rate = freq;
 292
 293         print "Calling MCPsetrate for %i." %rate;
 294         self.client.MCPsetrate(rate);
 295         self.client.MCPreqstatNormal();
 296
 297         print "Mode: %s" % self.client.MCPcanstatstr();
 298         print "CNF1: %02x" %self.client.peek8(0x2a);
 299         print "CNF2: %02x" %self.client.peek8(0x29);
 300         print "CNF3: %02x\n" %self.client.peek8(0x28);
 301
 302         while(1):
 303             packet=self.client.rxpacket();
 304
 305             if packet!=None:
 306                 if (self.client.peek8(0x2C) & 0x80):
 307                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 308                     print "malformed packet recieved: "+ self.client.packet2str(packet);
 309                 else:
 310                     print "properly formatted packet recieved" + self.client.packet2str(packet);
 311
 312
 313     def freqtest(self,freq):
 314
 315         self.client.MCPsetup();
 316
 317         self.client.MCPsetrate(freq);
 318         self.client.MCPreqstatListenOnly();
 319
 320         print "CAN Freq Test: %3d kHz" %freq;
 321
 322         x = 0;
 323         errors = 0;
 324
 325         starttime = time.time();
 326         while((time.time()-starttime < args.time)):
 327             packet=self.client.rxpacket();
 328             if packet!=None:
 329                 x+=1;
 330
 331                 if (self.client.peek8(0x2C) & 0x80):
 332                     print "malformed packet recieved"
 333                     errors+=1;
 334                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 335                 else:
 336                     print self.client.packet2str(packet);
 337
 338         print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
 339
 340
 341     def isniff(self,freq):
 342         """ An intelligent sniffer, decodes message format """
 343         """ More features to be added soon """
 344
 345         self.client.MCPsetrate(freq);
 346         self.client.MCPreqstatListenOnly();
 347         while 1:
 348             packet=self.client.rxpacket();
 349             if packet!=None:
 350                 plist=[];
 351                 for byte in packet:
 352                     plist.append(byte);
 353                 arbid=plist[0:2];
 354                 eid=plist[2:4];
 355                 dlc=plist[4:5];
 356                 data=plist[5:13];
 357                 print "\nArbID: " + self.client.packet2str(arbid);
 358                 print "EID: " + self.client.packet2str(eid);
 359                 print "DLC: " + self.client.packet2str(dlc);
 360                 print "Data: " + self.client.packet2str(data);
 361
 362     def test(self):
 363
 364         comm.reset();
 365         print "Just reset..."
 366         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 367         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 368         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 369         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 370         self.client.MCPreqstatConfiguration();
 371         self.client.poke8(0x60,0x66);
 372         self.client.MCPsetrate(500);
 373         self.client.MCPreqstatNormal();
 374         print "In normal mode now"
 375         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 376         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 377         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 378         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 379         print "Waiting on packets.";
 380         checkcount = 0;
 381         packet=None;
 382         while(1):
 383             packet=self.client.rxpacket();
 384             if packet!=None:
 385                 print "Message recieved: %s" % self.client.packet2str(packet);
 386             else:
 387                 checkcount=checkcount+1;
 388                 if (checkcount%30==0):
 389                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 390                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 391                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 392                     print "CANINTF: %02x"  %self.client.peek8(0x2C);
 393
 394
 395
 396
 397     def addFilter(self,standardid, verbose= True):
 398         comment = None
 399         ### ON-CHIP FILTERING
 400         if(standardid != None):
 401             self.client.MCPreqstatConfiguration();
 402             self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
 403             self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
 404             self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
 405             if(len(standardid)>2):
 406                self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
 407                self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
 408                self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
 409
 410             for filter,ID in enumerate(standardid):
 411
 412                if (filter==0):
 413                 RXFSIDH = 0x00;
 414                 RXFSIDL = 0x01;
 415                elif (filter==1):
 416                 RXFSIDH = 0x04;
 417                 RXFSIDL = 0x05;
 418                elif (filter==2):
 419                 RXFSIDH = 0x08;
 420                 RXFSIDL = 0x09;
 421                elif (filter==3):
 422                 RXFSIDH = 0x10;
 423                 RXFSIDL = 0x11;
 424                elif (filter==4):
 425                 RXFSIDH = 0x14;
 426                 RXFSIDL = 0x15;
 427                else:
 428                 RXFSIDH = 0x18;
 429                 RXFSIDL = 0x19;
 430
 431                #### split SID into different regs
 432                SIDlow = (ID & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 433                SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 434
 435                #write SID to regs
 436                self.client.poke8(RXFSIDH,SIDhigh);
 437                self.client.poke8(RXFSIDL, SIDlow);
 438
 439                if (verbose == True):
 440                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 441
 442         self.client.MCPreqstatNormal();
 443
 444
 445     # this will sweep through the given ids to request a packet and then sniff on that
 446     # id for a given amount duration. This will be repeated the number of attempts time
 447
 448     #at the moment this is set to switch to the next id once  a message is identified
 449     def rtrSweep(self,freq,lowID,highID, attempts = 1,duration = 1, verbose = True):
 450         #set up file
 451         now = datetime.datetime.now()
 452         datestr = now.strftime("%Y%m%d")
 453         path = self.DATALOCATION+datestr+"_rtr.csv"
 454         filename = path
 455         outfile = open(filename,'a');
 456         dataWriter = csv.writer(outfile,delimiter=',');
 457         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 458         dataWriter.writerow(['#' + "rtr sweep from %d to %d"%(lowID,highID)])
 459         print "started"
 460         #self.client.serInit()
 461         #self.spitSetup(freq)
 462         for i in range(lowID,highID+1, 1):
 463             self.client.serInit()
 464             self.spitSetup(freq)
 465             standardid = [i, i, i, i]
 466             #set filters
 467             self.addFilter(standardid, verbose = True)
 468
 469             #### split SID into different areas
 470             SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 471             SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 472             #create RTR packet
 473             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 474             dataWriter.writerow(["#requested id %d"%i])
 475             #self.client.poke8(0x2C,0x00);  #clear the CANINTF register; we care about bits 0 and 1 (RXnIF flags) which indicate a message is being held
 476             #clear buffer
 477             packet1 = self.client.rxpacket();
 478             packet2 = self.client.rxpacket();
 479             #send in rtr request
 480             self.client.txpacket(packet)
 481             ## listen for 2 packets. one should be the rtr we requested the other should be
 482             ## a new packet response
 483             starttime = time.time()
 484             while ((time.time() - starttime) < duration):
 485                 packet = self.client.rxpacket()
 486                 if( packet == None):
 487                     continue
 488                 row = []
 489                 row.append("%f"%time.time()) #timestamp
 490                 row.append(0) #error flag (not checkign)
 491                 row.append("rtrRequest_%d"%i) #comment
 492                 row.append(duration) #sniff time
 493                 row.append(1) # filtering boolean
 494                 for byte in packet:
 495                     row.append("%02x"%ord(byte));
 496                 dataWriter.writerow(row)
 497                 print self.client.packet2parsedstr(packet)
 498 #            packet1=self.client.rxpacket();
 499 #            packet2=self.client.rxpacket();
 500 #            if( packet1 != None and packet2 != None):
 501 #                print "packets recieved :\n "
 502 #                print self.client.packet2parsedstr(packet1);
 503 #                print self.client.packet2parsedstr(packet2);
 504 #                continue
 505 #            elif( packet1 != None):
 506 #                print self.client.packet2parsedstr(packet1)
 507 #            elif( packet2 != None):
 508 #                print self.client.packet2parsedstr(packet2)
 509             trial= 2;
 510             # for each trial
 511             while( trial <= attempts):
 512                 print "trial: ", trial
 513                 self.client.MCPrts(TXB0=True);
 514                 starttime = time.time()
 515                 # this time we will sniff for the given amount of time to see if there is a
 516                 # time till the packets come in
 517                 while( (time.time()-starttime) < duration):
 518                     packet=self.client.rxpacket();
 519                     row = []
 520                     row.append("%f"%time.time()) #timestamp
 521                     row.append(0) #error flag (not checking)
 522                     row.append("rtrRequest_%d"%i) #comment
 523                     row.append(duration) #sniff time
 524                     row.append(1) # filtering boolean
 525                     for byte in packet:
 526                         row.append("%02x"%ord(byte));
 527                     dataWriter.writerow(row)
 528                     print self.client.packet2parsedstr(packet)
 529 #                    packet2=self.client.rxpacket();
 530 #
 531 #                    if( packet1 != None and packet2 != None):
 532 #                        print "packets recieved :\n "
 533 #                        print self.client.packet2parsedstr(packet1);
 534 #                        print self.client.packet2parsedstr(packet2);
 535 #                        #break
 536 #                    elif( packet1 != None):
 537 #                        print "just packet1"
 538 #                        print self.client.packet2parsedstr(packet1)
 539 #                    elif( packet2 != None):
 540 #                        print "just packet2"
 541 #                        print self.client.packet2parsedstr(packet2)
 542                 trial += 1
 543         print "sweep complete"
 544         outfile.close()
 545
 546     def spitSetup(self,freq):
 547         self.reset();
 548         self.client.MCPsetrate(freq);
 549         self.client.MCPreqstatNormal();
 550
 551
 552     def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 553         self.spitSetup(freq);
 554         spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
 555
 556     def spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 557
 558
 559         #### split SID into different regs
 560         SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 561         SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 562
 563         if(packet == None):
 564
 565             # if no packet, RTR for inputted arbID
 566             # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
 567             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 568
 569
 570                 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 571                 #         0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 572                 #        # lower nibble is DLC
 573                 #        0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
 574         else:
 575
 576             # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
 577             #
 578             #    TODO: allow for variable-length packets
 579             #
 580             packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 581                   0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 582                   # lower nibble is DLC
 583                  packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
 584
 585
 586         if(debug):
 587             if self.client.MCPcanstat()>>5!=0:
 588                 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
 589             print "\nInitial state:"
 590             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 591             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 592             print "Error Flags:  %02x\n" % self.client.peek8(0x2d);
 593             print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 594             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 595             print "\n\nATTEMPTING TRANSMISSION!!!"
 596
 597
 598         print "Transmitting packet: "
 599         print self.client.packet2str(packet)
 600
 601         self.client.txpacket(packet);
 602
 603         if repeat:
 604             print "\nNow looping on transmit. "
 605             if duration!= None:
 606                 starttime = time.time();
 607                 while((time.time()-starttime < duration)):
 608                     self.client.MCPrts(TXB0=True);
 609                     print "MSG printed"
 610             else:
 611                 while(1):
 612                     self.client.MCPrts(TXB0=True);
 613         print "messages injected"
 614
 615         # MORE DEBUGGING
 616         if(debug):
 617             checkcount = 0;
 618             TXB0CTRL = self.client.peek8(0x30);
 619
 620             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 621             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 622             print "EFLG register:  %02x" % self.client.peek8(0x2d);
 623             print "TXB0CTRL: %02x" %TXB0CTRL;
 624             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 625
 626             while(TXB0CTRL | 0x00 != 0x00):
 627                 checkcount+=1;
 628                 TXB0CTRL = self.client.peek8(0x30);
 629                 if (checkcount %30 ==0):
 630                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 631                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 632                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 633                     print "TXB0CTRL: %02x" %TXB0CTRL;
 634                     print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 635
 636
 637     def setRate(self,freq):
 638         self.client.MCPsetrate(freq);
 639
 640
 641
 642
 643 if __name__ == "__main__":
 644
 645     parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
 646
 647         Run commands on the MCP2515. Valid commands are:
 648
 649             info
 650             test
 651             peek 0x(start) [0x(stop)]
 652             reset
 653
 654             sniff
 655             freqtest
 656             snifftest
 657             spit
 658         ''')
 659
 660
 661     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
 662     parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
 663     parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
 664     parser.add_argument('-o', '--output', default=None,help='Output file');
 665     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
 666     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
 667     parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
 668     parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
 669     parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
 670     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);
 671     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);
 672
 673
 674     args = parser.parse_args();
 675     freq = args.freq
 676     duration = args.time
 677     filename = args.output
 678     description = args.description
 679     verbose = args.verbose
 680     comments = args.comment
 681     debug = args.debug
 682     standardid = args.standardid
 683     faster=args.faster
 684     repeat = args.repeat
 685
 686     comm = GoodFETMCPCANCommunication();
 687
 688     ##########################
 689     #   INFO
 690     ##########################
 691     #
 692     # Prints MCP state info
 693     #
 694     if(args.verb=="info"):
 695         comm.printInfo()
 696
 697
 698     ##########################
 699     #   RESET
 700     ##########################
 701     #
 702     #
 703
 704     if(args.verb=="reset"):
 705         comm.reset()
 706
 707     ##########################
 708     #   SNIFF
 709     ##########################
 710     #
 711     #   runs in ListenOnly mode
 712     #   utility function to pull info off the car's CAN bus
 713     #
 714
 715     if(args.verb=="sniff"):
 716         comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
 717
 718     ##########################
 719     #   SNIFF TEST
 720     ##########################
 721     #
 722     #   runs in NORMAL mode
 723     #   intended for NETWORKED MCP chips to verify proper operation
 724     #
 725
 726     if(args.verb=="snifftest"):
 727         comm.sniffTest(freq=freq)
 728
 729
 730     ##########################
 731     #   FREQ TEST
 732     ##########################
 733     #
 734     #   runs in LISTEN ONLY mode
 735     #   tests bus for desired frequency --> sniffs bus for specified length of time and reports
 736     #   if packets were properly formatted
 737     #
 738     #
 739
 740     if(args.verb=="freqtest"):
 741         comm.freqtest(freq=freq)
 742
 743
 744
 745     ##########################
 746     #   iSniff
 747     ##########################
 748     #
 749     #    """ An intelligent sniffer, decodes message format """
 750     #    """ More features to be added soon """
 751     if(args.verb=="isniff"):
 752         comm.isniff(freq=freq)
 753
 754
 755     ##########################
 756     #   MCP TEST
 757     ##########################
 758     #
 759     #   Runs in LOOPBACK mode
 760     #   self-check diagnostic
 761     #   wasn't working before due to improperly formatted packet
 762     #
 763     #   ...add automatic packet check rather than making user verify successful packet
 764     if(args.verb=="test"):
 765         comm.test()
 766
 767     if(args.verb=="peek"):
 768         start=0x0000;
 769         if(len(sys.argv)>2):
 770             start=int(sys.argv[2],16);
 771         stop=start;
 772         if(len(sys.argv)>3):
 773             stop=int(sys.argv[3],16);
 774         print "Peeking from %04x to %04x." % (start,stop);
 775         while start<=stop:
 776             print "%04x: %02x" % (start,client.peek8(start));
 777             start=start+1;
 778
 779     ##########################
 780     #   SPIT
 781     ##########################
 782     #
 783     #   Basic packet transmission
 784     #   runs in NORMAL MODE!
 785     #
 786     #   checking TX error flags--> currently throwing error flags on every
 787     #   transmission (travis thinks this is because we're sniffing in listen-only
 788     #   and thus not generating an ack bit on the recieving board)
 789     if(args.verb=="spit"):
 790         comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)
 791
 792
 793
 794
 795
 796
 797
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 799
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