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;
19 from GoodFETMCPCAN import GoodFETMCPCAN;
20 from intelhex import IntelHex;
22 class GoodFETMCPCANCommunication:
25 self.client=GoodFETMCPCAN();
27 self.client.MCPsetup();
30 ##########################
32 ##########################
34 # Prints MCP state info
37 print "MCP2515 Info:\n\n";
39 print "Mode: %s" % self.client.MCPcanstatstr();
40 print "Read Status: %02x" % self.client.MCPreadstatus();
41 print "Rx Status: %02x" % self.client.MCPrxstatus();
42 print "Tx Errors: %3d" % self.client.peek8(0x1c);
43 print "Rx Errors: %3d\n" % self.client.peek8(0x1d);
46 print "CNF1: %02x" %self.client.peek8(0x2a);
47 print "CNF2: %02x" %self.client.peek8(0x29);
48 print "CNF3: %02x\n" %self.client.peek8(0x28);
49 print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
50 print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
52 packet0=self.client.readrxbuffer(0);
53 packet1=self.client.readrxbuffer(1);
54 for foo in [packet0, packet1]:
55 print self.client.packet2str(foo);
58 self.client.MCPsetup();
60 def sniff(self,freq,duration,filename,description, verbose=True, comment=None):
61 self.client.MCPsetrate(freq);
62 outfile = open(filename,'a');
63 dataWriter = csv.writer(outfile,delimiter=',');
64 dataWriter.writerow(['# Time Error Bytes 1-13']);
65 dataWriter.writerow(['#' + description])
67 self.client.MCPreqstatListenOnly();
70 starttime = time.time();
72 while((time.time()-starttime < duration)):
73 packet=self.client.rxpacket();
76 print self.client.packet2str(packet)
79 row.append("%f"%time.time());
80 if (self.client.peek8(0x2C) & 0x80):
81 self.client.MCPbitmodify(0x2C,0x80,0x00);
82 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
90 row.append("%02x"%ord(byte));
91 dataWriter.writerow(row);
94 print "Listened for %x seconds, captured %x packets." %(duration,packetcount);
98 def sniffTest(self, freq):
99 self.client.MCPsetup();
103 print "Calling MCPsetrate for %i." %rate;
104 self.client.MCPsetrate(rate);
105 self.client.MCPreqstatNormal();
107 print "Mode: %s" % self.client.MCPcanstatstr();
108 print "CNF1: %02x" %self.client.peek8(0x2a);
109 print "CNF2: %02x" %self.client.peek8(0x29);
110 print "CNF3: %02x\n" %self.client.peek8(0x28);
113 packet=self.client.rxpacket();
116 if (self.client.peek8(0x2C) & 0x80):
117 self.client.MCPbitmodify(0x2C,0x80,0x00);
118 print "malformed packet recieved: "+ self.client.packet2str(packet);
120 print "properly formatted packet recieved" + self.client.packet2str(packet);
123 def freqtest(self,freq):
124 self.client.MCPsetup();
126 self.client.MCPsetrate(freq);
127 self.client.MCPreqstatListenOnly();
129 print "CAN Freq Test: %3d kHz" %freq;
134 starttime = time.time();
135 while((time.time()-starttime < args.time)):
136 packet=self.client.rxpacket();
140 if (self.client.peek8(0x2C) & 0x80):
141 print "malformed packet recieved"
143 self.client.MCPbitmodify(0x2C,0x80,0x00);
145 print self.client.packet2str(packet);
147 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
150 def isniff(self,freq):
151 """ An intelligent sniffer, decodes message format """
152 """ More features to be added soon """
154 self.client.MCPsetrate(freq);
155 self.client.MCPreqstatListenOnly();
157 packet=self.client.rxpacket();
166 print "\nArbID: " + self.client.packet2str(arbid);
167 print "EID: " + self.client.packet2str(eid);
168 print "DLC: " + self.client.packet2str(dlc);
169 print "Data: " + self.client.packet2str(data);
172 print "\nMCP2515 Self Test:";
174 #Switch to config mode and try to rewrite TEC.
175 self.client.MCPreqstatConfiguration();
176 self.client.poke8(0x00,0xde);
177 if self.client.peek8(0x00)!=0xde:
178 print "ERROR: Poke to TEC failed.";
180 print "SUCCESS: Register read/write.";
182 #Switch to Loopback mode and try to catch our own packet.
183 self.client.MCPreqstatLoopback();
186 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
188 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
189 # LOWER nibble is DLC
190 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
191 self.client.txpacket(packet1);
192 self.client.txpacket(packet1);
193 print "Waiting on loopback packets.";
196 packet=self.client.rxpacket();
198 print "Message recieved: %s" % self.client.packet2str(packet);
203 self.client.MCPsetrate(freq);
204 self.client.MCPreqstatNormal();
206 print "Tx Errors: %3d" % self.client.peek8(0x1c);
207 print "Rx Errors: %3d" % self.client.peek8(0x1d);
208 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
209 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
210 print "CANINTF: %02x" %self.client.peek8(0x2C);
214 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
216 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
217 # LOWER nibble is DLC
218 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
220 self.client.txpacket(packet);
222 if(self.client.peek8(0x2C)&0x80)==0x80:
223 print "Error flag raised on transmission. Clearing this flag and proceeding.\n"
224 print "INT Flags: %02x" % self.client.peek8(0x2c);
225 self.client.MCPbitmodify(0x2C,0x80,0x00);
226 print "INT Flags modified to: %02x\n" % self.client.peek8(0x2c);
227 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
228 self.client.MCPbitmodify(0x30,0x08,0x00);
229 print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
231 print "message sending attempted.";
232 print "Tx Errors: %02x" % self.client.peek8(0x1c);
233 print "Rx Errors: %02x" % self.client.peek8(0x1d);
234 print "Error Flags: %02x" % self.client.peek8(0x2d);
238 if __name__ == "__main__":
240 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
242 Run commands on the MCP2515. Valid commands are:
246 peek 0x(start) [0x(stop)]
256 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
257 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
258 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
259 parser.add_argument('-o', '--output', default="../../contrib/ted/sniff_out.csv",help='Output file');
260 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
261 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
262 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
264 args = parser.parse_args();
267 filename = args.output
268 description = args.description
269 verbose = args.verbose
270 comments = args.comment
272 comm = GoodFETMCPCANCommunication();
274 ##########################
276 ##########################
278 # Prints MCP state info
280 if(args.verb=="info"):
284 ##########################
286 ##########################
290 if(args.verb=="reset"):
293 ##########################
295 ##########################
297 # runs in ListenOnly mode
298 # utility function to pull info off the car's CAN bus
301 if(args.verb=="sniff"):
302 comm.sniff(freq=freq,duration=duration,filename=filename,description=description,verbose=verbose,comment=comments)
306 ##########################
308 ##########################
310 # runs in NORMAL mode
311 # intended for NETWORKED MCP chips to verify proper operation
314 if(args.verb=="snifftest"):
315 comm.sniffTest(freq=freq)
317 ##########################
319 ##########################
321 # runs in LISTEN ONLY mode
322 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
323 # if packets were properly formatted
327 if(args.verb=="freqtest"):
328 comm.freqtest(freq=freq)
330 ##########################
332 ##########################
334 # """ An intelligent sniffer, decodes message format """
335 # """ More features to be added soon """
336 if(args.verb=="isniff"):
337 comm.isniff(freq=freq)
340 ##########################
342 ##########################
344 # Runs in LOOPBACK mode
345 # self-check diagnostic
346 # wasn't working before due to improperly formatted packet
348 # ...add automatic packet check rather than making user verify successful packet
349 if(args.verb=="test"):
353 if(args.verb=="peek"):
356 start=int(sys.argv[2],16);
359 stop=int(sys.argv[3],16);
360 print "Peeking from %04x to %04x." % (start,stop);
362 print "%04x: %02x" % (start,client.peek8(start));
365 ##########################
367 ##########################
369 # Basic packet transmission
370 # runs in NORMAL MODE!
372 # checking TX error flags--> currently throwing error flags on every
373 # transmission (travis thinks this is because we're sniffing in listen-only
374 # and thus not generating an ack bit on the recieving board)
375 if(args.verb=="spit"):