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;
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):
77 #### ON-CHIP FILTERING
78 if(standardid != None):
79 comment = comment+"Filtering for SID ";
81 self.client.MCPreqstatConfiguration();
82 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
83 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
84 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
85 if(len(standardid)>2):
86 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
87 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
88 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
90 for filter,ID in enumerate(standardid):
111 #### split SID into different regs
112 SIDlow = (ID & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5
113 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
116 self.client.poke8(RXFSIDH,SIDhigh);
117 self.client.poke8(RXFSIDL, SIDlow);
119 if (verbose == True):
120 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
121 comment = comment + ("%d " %(ID))
124 self.client.MCPsetrate(freq);
126 # This will handle the files so that we do not loose them. each day we will create a new csv file
128 #get folder information (based on today's date)
129 now = datetime.datetime.now()
130 datestr = now.strftime("%Y%m%d")
131 path = self.DATALOCATION+datestr+".csv"
135 outfile = open(filename,'a');
136 dataWriter = csv.writer(outfile,delimiter=',');
137 dataWriter.writerow(['# Time Error Bytes 1-13']);
138 dataWriter.writerow(['#' + description])
140 self.client.MCPreqstatNormal();
141 print "Listening...";
143 starttime = time.time();
145 while((time.time()-starttime < duration)):
148 packet=self.client.fastrxpacket();
150 packet=self.client.rxpacket();
154 MCPstatusReg = self.client.MCPrxstatus();
155 messagestat=MCPstatusReg&0xC0;
156 messagetype=MCPstatusReg&0x18;
157 if(messagestat == 0xC0):
158 print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
159 elif(messagestat == 0x80):
160 print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
161 elif(messagestat == 0x40):
162 print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
163 elif(messagestat == 0x00):
164 print "No messages in buffers."
170 row.append("%f"%time.time());
173 print self.client.packet2str(packet)
178 MCPeflgReg=self.client.peek8(0x2D);
179 print"EFLG register equals: %x" %MCPeflgReg;
180 if((MCPeflgReg & 0xC0)==0xC0):
181 print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
182 elif(MCPeflgReg & 0x80):
183 print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
184 elif(MCPeflgReg & 0x40):
185 print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
186 self.client.MCPbitmodify(0x2D,0xC0,0x00);
187 print"EFLG register set to: %x" % self.client.peek(0x2D);
190 if (self.client.peek8(0x2C) & 0x80):
191 self.client.MCPbitmodify(0x2C,0x80,0x00);
192 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
197 row.append(0); #since we don't check for errors if we're not in debug mode...
200 #write packet to file
202 row.append("%02x"%ord(byte));
203 dataWriter.writerow(row);
206 print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
210 def filterStdSweep(self, freq, time = 5):
212 for i in range(0, 2047, 6):
213 print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
214 comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
215 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)
216 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
218 for j in range(i,i+5):
219 comment = "sweepFilter: %d" % (j)
220 description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
221 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j])
226 def sniffTest(self, freq):
230 print "Calling MCPsetrate for %i." %rate;
231 self.client.MCPsetrate(rate);
232 self.client.MCPreqstatNormal();
234 print "Mode: %s" % self.client.MCPcanstatstr();
235 print "CNF1: %02x" %self.client.peek8(0x2a);
236 print "CNF2: %02x" %self.client.peek8(0x29);
237 print "CNF3: %02x\n" %self.client.peek8(0x28);
240 packet=self.client.rxpacket();
243 if (self.client.peek8(0x2C) & 0x80):
244 self.client.MCPbitmodify(0x2C,0x80,0x00);
245 print "malformed packet recieved: "+ self.client.packet2str(packet);
247 print "properly formatted packet recieved" + self.client.packet2str(packet);
250 def freqtest(self,freq):
251 self.client.MCPsetup();
253 self.client.MCPsetrate(freq);
254 self.client.MCPreqstatListenOnly();
256 print "CAN Freq Test: %3d kHz" %freq;
261 starttime = time.time();
262 while((time.time()-starttime < args.time)):
263 packet=self.client.rxpacket();
267 if (self.client.peek8(0x2C) & 0x80):
268 print "malformed packet recieved"
270 self.client.MCPbitmodify(0x2C,0x80,0x00);
272 print self.client.packet2str(packet);
274 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
277 def isniff(self,freq):
278 """ An intelligent sniffer, decodes message format """
279 """ More features to be added soon """
281 self.client.MCPsetrate(freq);
282 self.client.MCPreqstatListenOnly();
284 packet=self.client.rxpacket();
293 print "\nArbID: " + self.client.packet2str(arbid);
294 print "EID: " + self.client.packet2str(eid);
295 print "DLC: " + self.client.packet2str(dlc);
296 print "Data: " + self.client.packet2str(data);
299 print "\nMCP2515 Self Test:";
301 #Switch to config mode and try to rewrite TEC.
302 self.client.MCPreqstatConfiguration();
303 self.client.poke8(0x00,0xde);
304 if self.client.peek8(0x00)!=0xde:
305 print "ERROR: Poke to TEC failed.";
307 print "SUCCESS: Register read/write.";
309 #Switch to Loopback mode and try to catch our own packet.
310 self.client.MCPreqstatLoopback();
313 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
315 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
316 # LOWER nibble is DLC
317 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
318 self.client.txpacket(packet1);
319 self.client.txpacket(packet1);
320 print "Waiting on loopback packets.";
323 packet=self.client.rxpacket();
325 print "Message recieved: %s" % self.client.packet2str(packet);
329 def spit(self,freq, standardid,debug):
332 self.client.MCPsetrate(freq);
333 self.client.MCPreqstatNormal();
336 print "\n\nATTEMPTING TRANSMISSION!!!"
337 print "Tx Errors: %3d" % self.client.peek8(0x1c);
338 print "Rx Errors: %3d" % self.client.peek8(0x1d);
339 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
340 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
341 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
343 #### split SID into different regs
344 SIDlow = (standardid[0] & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5
345 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
347 packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
348 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
349 # lower nibble is DLC
350 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
352 self.client.txpacket(packet);
354 TXB0CTRL = self.client.peek8(0x30);
356 print "Tx Errors: %3d" % self.client.peek8(0x1c);
357 print "Rx Errors: %3d" % self.client.peek8(0x1d);
358 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
359 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
360 self.client.MCPbitmodify(0x30,0x08,0x00);
361 print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
363 print "CANINTF: %02x" %self.client.peek8(0x2C);
364 self.client.MCPbitmodify(0x2C,0x80,0x00);
365 print "INT Flags modified to: %02x\n" % self.client.peek8(0x2c);
371 if __name__ == "__main__":
373 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
375 Run commands on the MCP2515. Valid commands are:
379 peek 0x(start) [0x(stop)]
389 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
390 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
391 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
392 parser.add_argument('-o', '--output', default=None,help='Output file');
393 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
394 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
395 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
396 parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
397 parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
398 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);
401 args = parser.parse_args();
404 filename = args.output
405 description = args.description
406 verbose = args.verbose
407 comments = args.comment
409 standardid = args.standardid
412 comm = GoodFETMCPCANCommunication();
414 ##########################
416 ##########################
418 # Prints MCP state info
420 if(args.verb=="info"):
424 ##########################
426 ##########################
430 if(args.verb=="reset"):
433 ##########################
435 ##########################
437 # runs in ListenOnly mode
438 # utility function to pull info off the car's CAN bus
441 if(args.verb=="sniff"):
442 comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
444 ##########################
446 ##########################
448 # runs in NORMAL mode
449 # intended for NETWORKED MCP chips to verify proper operation
452 if(args.verb=="snifftest"):
453 comm.sniffTest(freq=freq)
456 ##########################
458 ##########################
460 # runs in LISTEN ONLY mode
461 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
462 # if packets were properly formatted
466 if(args.verb=="freqtest"):
467 comm.freqtest(freq=freq)
471 ##########################
473 ##########################
475 # """ An intelligent sniffer, decodes message format """
476 # """ More features to be added soon """
477 if(args.verb=="isniff"):
478 comm.isniff(freq=freq)
481 ##########################
483 ##########################
485 # Runs in LOOPBACK mode
486 # self-check diagnostic
487 # wasn't working before due to improperly formatted packet
489 # ...add automatic packet check rather than making user verify successful packet
490 if(args.verb=="test"):
493 if(args.verb=="peek"):
496 start=int(sys.argv[2],16);
499 stop=int(sys.argv[3],16);
500 print "Peeking from %04x to %04x." % (start,stop);
502 print "%04x: %02x" % (start,client.peek8(start));
505 ##########################
507 ##########################
509 # Basic packet transmission
510 # runs in NORMAL MODE!
512 # checking TX error flags--> currently throwing error flags on every
513 # transmission (travis thinks this is because we're sniffing in listen-only
514 # and thus not generating an ack bit on the recieving board)
515 if(args.verb=="spit"):
516 comm.spit(freq=freq, standardid=standardid, debug=debug)