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();
70 ##########################
72 ##########################
74 def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug = False):
76 #### ON-CHIP FILTERING
77 if(standardid != None):
78 comment = comment+"Filtering for SID ";
80 self.client.MCPreqstatConfiguration();
81 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
82 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
83 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
84 if(len(standardid)>2):
85 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
86 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
87 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
89 for filter,ID in enumerate(standardid):
110 #### split SID into different regs
111 SIDlow = (ID & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5
112 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
115 self.client.poke8(RXFSIDH,SIDhigh);
116 self.client.poke8(RXFSIDL, SIDlow);
118 if (verbose == True):
119 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
120 comment = comment + ("%d " %(ID))
123 self.client.MCPsetrate(freq);
125 # This will handle the files so that we do not loose them. each day we will create a new csv file
127 #get folder information (based on today's date)
128 now = datetime.datetime.now()
129 datestr = now.strftime("%Y%m%d")
130 path = self.DATALOCATION+datestr+".csv"
134 outfile = open(filename,'a');
135 dataWriter = csv.writer(outfile,delimiter=',');
136 dataWriter.writerow(['# Time Error Bytes 1-13']);
137 dataWriter.writerow(['#' + description])
139 self.client.MCPreqstatNormal();
140 print "Listening...";
142 starttime = time.time();
144 while((time.time()-starttime < duration)):
145 packet=self.client.rxpacket();
149 MCPstatusReg = self.client.MCPrxstatus();
150 messagestat=MCPstatusReg&0xC0;
151 messagetype=MCPstatusReg&0x18;
152 if(messagestat == 0xC0):
153 print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
154 elif(messagestat == 0x80):
155 print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
156 elif(messagestat == 0x40):
157 print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
158 elif(messagestat == 0x00):
159 print "No messages in buffers."
165 row.append("%f"%time.time());
168 print self.client.packet2str(packet)
173 MCPeflgReg=self.client.peek8(0x2D);
174 print"EFLG register equals: %x" %MCPeflgReg;
175 if((MCPeflgReg & 0xC0)==0xC0):
176 print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
177 elif(MCPeflgReg & 0x80):
178 print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
179 elif(MCPeflgReg & 0x40):
180 print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
181 self.client.MCPbitmodify(0x2D,0xC0,0x00);
182 print"EFLG register set to: %x" % self.client.peek(0x2D);
185 if (self.client.peek8(0x2C) & 0x80):
186 self.client.MCPbitmodify(0x2C,0x80,0x00);
187 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
192 row.append(0); #since we don't check for errors if we're not in debug mode...
196 row.append("%02x"%ord(byte));
197 dataWriter.writerow(row);
200 print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
202 def sniffTest(self, freq):
206 print "Calling MCPsetrate for %i." %rate;
207 self.client.MCPsetrate(rate);
208 self.client.MCPreqstatNormal();
210 print "Mode: %s" % self.client.MCPcanstatstr();
211 print "CNF1: %02x" %self.client.peek8(0x2a);
212 print "CNF2: %02x" %self.client.peek8(0x29);
213 print "CNF3: %02x\n" %self.client.peek8(0x28);
216 packet=self.client.rxpacket();
219 if (self.client.peek8(0x2C) & 0x80):
220 self.client.MCPbitmodify(0x2C,0x80,0x00);
221 print "malformed packet recieved: "+ self.client.packet2str(packet);
223 print "properly formatted packet recieved" + self.client.packet2str(packet);
226 def freqtest(self,freq):
227 self.client.MCPsetup();
229 self.client.MCPsetrate(freq);
230 self.client.MCPreqstatListenOnly();
232 print "CAN Freq Test: %3d kHz" %freq;
237 starttime = time.time();
238 while((time.time()-starttime < args.time)):
239 packet=self.client.rxpacket();
243 if (self.client.peek8(0x2C) & 0x80):
244 print "malformed packet recieved"
246 self.client.MCPbitmodify(0x2C,0x80,0x00);
248 print self.client.packet2str(packet);
250 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
253 def isniff(self,freq):
254 """ An intelligent sniffer, decodes message format """
255 """ More features to be added soon """
257 self.client.MCPsetrate(freq);
258 self.client.MCPreqstatListenOnly();
260 packet=self.client.rxpacket();
269 print "\nArbID: " + self.client.packet2str(arbid);
270 print "EID: " + self.client.packet2str(eid);
271 print "DLC: " + self.client.packet2str(dlc);
272 print "Data: " + self.client.packet2str(data);
275 print "\nMCP2515 Self Test:";
277 #Switch to config mode and try to rewrite TEC.
278 self.client.MCPreqstatConfiguration();
279 self.client.poke8(0x00,0xde);
280 if self.client.peek8(0x00)!=0xde:
281 print "ERROR: Poke to TEC failed.";
283 print "SUCCESS: Register read/write.";
285 #Switch to Loopback mode and try to catch our own packet.
286 self.client.MCPreqstatLoopback();
289 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
291 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
292 # LOWER nibble is DLC
293 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
294 self.client.txpacket(packet1);
295 self.client.txpacket(packet1);
296 print "Waiting on loopback packets.";
299 packet=self.client.rxpacket();
301 print "Message recieved: %s" % self.client.packet2str(packet);
306 self.client.MCPsetrate(freq);
307 self.client.MCPreqstatNormal();
309 print "Tx Errors: %3d" % self.client.peek8(0x1c);
310 print "Rx Errors: %3d" % self.client.peek8(0x1d);
311 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
312 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
313 print "CANINTF: %02x" %self.client.peek8(0x2C);
317 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
319 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
320 # LOWER nibble is DLC
321 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
323 self.client.txpacket(packet);
325 if(self.client.peek8(0x2C)&0x80)==0x80:
326 print "Error flag raised on transmission. Clearing this flag and proceeding.\n"
327 print "INT Flags: %02x" % self.client.peek8(0x2c);
328 self.client.MCPbitmodify(0x2C,0x80,0x00);
329 print "INT Flags modified to: %02x\n" % self.client.peek8(0x2c);
330 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
331 self.client.MCPbitmodify(0x30,0x08,0x00);
332 print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
334 print "message sending attempted.";
335 print "Tx Errors: %02x" % self.client.peek8(0x1c);
336 print "Rx Errors: %02x" % self.client.peek8(0x1d);
337 print "Error Flags: %02x" % self.client.peek8(0x2d);
341 if __name__ == "__main__":
343 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
345 Run commands on the MCP2515. Valid commands are:
349 peek 0x(start) [0x(stop)]
359 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
360 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
361 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
362 parser.add_argument('-o', '--output', default=None,help='Output file');
363 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
364 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
365 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
366 parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
367 parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
370 args = parser.parse_args();
373 filename = args.output
374 description = args.description
375 verbose = args.verbose
376 comments = args.comment
378 standardid = args.standardid
380 comm = GoodFETMCPCANCommunication();
382 ##########################
384 ##########################
386 # Prints MCP state info
388 if(args.verb=="info"):
392 ##########################
394 ##########################
398 if(args.verb=="reset"):
401 ##########################
403 ##########################
405 # runs in ListenOnly mode
406 # utility function to pull info off the car's CAN bus
409 if(args.verb=="sniff"):
410 comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid)
412 ##########################
414 ##########################
416 # runs in NORMAL mode
417 # intended for NETWORKED MCP chips to verify proper operation
420 if(args.verb=="snifftest"):
421 comm.sniffTest(freq=freq)
423 ##########################
425 ##########################
427 # runs in LISTEN ONLY mode
428 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
429 # if packets were properly formatted
433 if(args.verb=="freqtest"):
434 comm.freqtest(freq=freq)
436 ##########################
438 ##########################
440 # """ An intelligent sniffer, decodes message format """
441 # """ More features to be added soon """
442 if(args.verb=="isniff"):
443 comm.isniff(freq=freq)
446 ##########################
448 ##########################
450 # Runs in LOOPBACK mode
451 # self-check diagnostic
452 # wasn't working before due to improperly formatted packet
454 # ...add automatic packet check rather than making user verify successful packet
455 if(args.verb=="test"):
458 if(args.verb=="peek"):
461 start=int(sys.argv[2],16);
464 stop=int(sys.argv[3],16);
465 print "Peeking from %04x to %04x." % (start,stop);
467 print "%04x: %02x" % (start,client.peek8(start));
470 ##########################
472 ##########################
474 # Basic packet transmission
475 # runs in NORMAL MODE!
477 # checking TX error flags--> currently throwing error flags on every
478 # transmission (travis thinks this is because we're sniffing in listen-only
479 # and thus not generating an ack bit on the recieving board)
480 if(args.verb=="spit"):