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
  19 from GoodFETMCPCAN import GoodFETMCPCAN;
  20 from intelhex import IntelHex;
  21
  22 class GoodFETMCPCANCommunication:
  23
  24     def __init__(self):
  25        self.client=GoodFETMCPCAN();
  26        self.client.serInit()
  27        self.client.MCPsetup();
  28
  29
  30     def printInfo(self):
  31
  32         self.client.MCPreqstatConfiguration();
  33
  34         print "MCP2515 Info:\n\n";
  35
  36         print "Mode: %s" % self.client.MCPcanstatstr();
  37         print "Read Status: %02x" % self.client.MCPreadstatus();
  38         print "Rx Status:   %02x" % self.client.MCPrxstatus();
  39         print "Error Flags:  %02x" % self.client.peek8(0x2D);
  40         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
  41         print "Rx Errors:  %3d\n" % self.client.peek8(0x1d);
  42
  43         print "Timing Info:";
  44         print "CNF1: %02x" %self.client.peek8(0x2a);
  45         print "CNF2: %02x" %self.client.peek8(0x29);
  46         print "CNF3: %02x\n" %self.client.peek8(0x28);
  47         print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
  48         print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
  49
  50         print "RX Info:";
  51         print "RXB0: %02x" %self.client.peek8(0x60);
  52         print "RXB1: %02x" %self.client.peek8(0x70);
  53         print "RXB0 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x20), self.client.peek8(0x21), self.client.peek8(0x22), self.client.peek8(0x23));
  54         print "RXB1 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x24), self.client.peek8(0x25), self.client.peek8(0x26), self.client.peek8(0x27));
  55
  56
  57         print "RX Buffers:"
  58         packet0=self.client.readrxbuffer(0);
  59         packet1=self.client.readrxbuffer(1);
  60         for foo in [packet0, packet1]:
  61            print self.client.packet2str(foo);
  62
  63     def reset(self):
  64         self.client.MCPsetup();
  65
  66     ##########################
  67     #   SNIFF
  68     ##########################
  69
  70     def sniff(self,freq,duration,filename,description, verbose=True, comment=None, standardid=None):
  71
  72         #### ON-CHIP FILTERING
  73         if(standardid != None):
  74             comment = comment+"Filtering for SID ";
  75
  76             self.client.MCPreqstatConfiguration();
  77             self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
  78             self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
  79             self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
  80             if(len(standardid)>2):
  81                self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
  82                self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
  83                self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
  84
  85             for filter,ID in enumerate(standardid):
  86
  87                if (filter==0):
  88                 RXFSIDH = 0x00;
  89                 RXFSIDL = 0x01;
  90                elif (filter==1):
  91                 RXFSIDH = 0x04;
  92                 RXFSIDL = 0x05;
  93                elif (filter==2):
  94                 RXFSIDH = 0x08;
  95                 RXFSIDL = 0x09;
  96                elif (filter==3):
  97                 RXFSIDH = 0x10;
  98                 RXFSIDL = 0x11;
  99                elif (filter==4):
 100                 RXFSIDH = 0x14;
 101                 RXFSIDL = 0x15;
 102                else:
 103                 RXFSIDH = 0x18;
 104                 RXFSIDL = 0x19;
 105
 106                #### split SID into different regs
 107                SIDlow = (ID & 0x03) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 108                SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 109
 110                #write SID to regs
 111                self.client.poke8(RXFSIDH,SIDhigh);
 112                self.client.poke8(RXFSIDL, SIDlow);
 113
 114                if (verbose == True):
 115                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 116                 comment = comment + "%d " %(ID);
 117
 118
 119         self.client.MCPsetrate(freq);
 120
 121         outfile = open(filename,'a');
 122         dataWriter = csv.writer(outfile,delimiter=',');
 123         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 124         dataWriter.writerow(['#' + description])
 125
 126         self.client.MCPreqstatNormal();
 127         print "Listening...";
 128         packetcount = 0;
 129         starttime = time.time();
 130
 131         while((time.time()-starttime < duration)):
 132             packet=self.client.rxpacket();
 133
 134             if(debug == True):
 135                 #check packet status
 136                 MCPstatusReg = self.client.MCPrxstatus();
 137                 messagestat=MCPstatusReg&0xC0;
 138                 messagetype=MCPstatusReg&0x18;
 139                 if(messagestat == 0xC0):
 140                     print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 141                 elif(messagestat == 0x80):
 142                     print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 143                 elif(messagestat == 0x40):
 144                     print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 145                 elif(messagestat == 0x00):
 146                     print "No messages in buffers."
 147
 148             if packet!=None:
 149
 150                 packetcount+=1;
 151                 row = [];
 152                 row.append("%f"%time.time());
 153
 154                 if( verbose==True):
 155                     print self.client.packet2str(packet)
 156
 157                 if(debug == True):
 158
 159                     #check overflow
 160                     MCPeflgReg=self.client.peek8(0x2D);
 161                     print"EFLG register equals: %x" %MCPeflgReg;
 162                     if((MCPeflgReg & 0xC0)==0xC0):
 163                         print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
 164                     elif(MCPeflgReg & 0x80):
 165                         print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
 166                     elif(MCPeflgReg & 0x40):
 167                         print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
 168                     self.client.MCPbitmodify(0x2D,0xC0,0x00);
 169                     print"EFLG register set to: %x" % self.client.peek(0x2D);
 170
 171                     #check for errors
 172                     if (self.client.peek8(0x2C) & 0x80):
 173                         self.client.MCPbitmodify(0x2C,0x80,0x00);
 174                         print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
 175                         row.append(1);
 176                     else:
 177                         row.append(0);
 178                 else:
 179                     row.append(0);  #since we don't check for errors if we're not in debug mode...
 180
 181                 row.append(comment)
 182                 for byte in packet:
 183                     row.append("%02x"%ord(byte));
 184                 dataWriter.writerow(row);
 185
 186         outfile.close()
 187         print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
 188
 189     def sniffTest(self, freq):
 190
 191         rate = freq;
 192
 193         print "Calling MCPsetrate for %i." %rate;
 194         self.client.MCPsetrate(rate);
 195         self.client.MCPreqstatNormal();
 196
 197         print "Mode: %s" % self.client.MCPcanstatstr();
 198         print "CNF1: %02x" %self.client.peek8(0x2a);
 199         print "CNF2: %02x" %self.client.peek8(0x29);
 200         print "CNF3: %02x\n" %self.client.peek8(0x28);
 201
 202         while(1):
 203             packet=self.client.rxpacket();
 204
 205             if packet!=None:
 206                 if (self.client.peek8(0x2C) & 0x80):
 207                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 208                     print "malformed packet recieved: "+ self.client.packet2str(packet);
 209                 else:
 210                     print "properly formatted packet recieved" + self.client.packet2str(packet);
 211
 212
 213     def freqtest(self,freq):
 214         self.client.MCPsetup();
 215
 216         self.client.MCPsetrate(freq);
 217         self.client.MCPreqstatListenOnly();
 218
 219         print "CAN Freq Test: %3d kHz" %freq;
 220
 221         x = 0;
 222         errors = 0;
 223
 224         starttime = time.time();
 225         while((time.time()-starttime < args.time)):
 226             packet=self.client.rxpacket();
 227             if packet!=None:
 228                 x+=1;
 229
 230                 if (self.client.peek8(0x2C) & 0x80):
 231                     print "malformed packet recieved"
 232                     errors+=1;
 233                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 234                 else:
 235                     print self.client.packet2str(packet);
 236
 237         print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
 238
 239
 240     def isniff(self,freq):
 241         """ An intelligent sniffer, decodes message format """
 242         """ More features to be added soon """
 243
 244         self.client.MCPsetrate(freq);
 245         self.client.MCPreqstatListenOnly();
 246         while 1:
 247             packet=self.client.rxpacket();
 248             if packet!=None:
 249                 plist=[];
 250                 for byte in packet:
 251                     plist.append(byte);
 252                 arbid=plist[0:2];
 253                 eid=plist[2:4];
 254                 dlc=plist[4:5];
 255                 data=plist[5:13];
 256                 print "\nArbID: " + self.client.packet2str(arbid);
 257                 print "EID: " + self.client.packet2str(eid);
 258                 print "DLC: " + self.client.packet2str(dlc);
 259                 print "Data: " + self.client.packet2str(data);
 260
 261     def test(self):
 262         print "\nMCP2515 Self Test:";
 263
 264         #Switch to config mode and try to rewrite TEC.
 265         self.client.MCPreqstatConfiguration();
 266         self.client.poke8(0x00,0xde);
 267         if self.client.peek8(0x00)!=0xde:
 268             print "ERROR: Poke to TEC failed.";
 269         else:
 270             print "SUCCESS: Register read/write.";
 271
 272         #Switch to Loopback mode and try to catch our own packet.
 273         self.client.MCPreqstatLoopback();
 274
 275         packet1 = [0x00,
 276                    0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
 277                    0x00, 0x00,
 278                    0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
 279                          # LOWER nibble is DLC
 280                    0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
 281         self.client.txpacket(packet1);
 282         self.client.txpacket(packet1);
 283         print "Waiting on loopback packets.";
 284         packet=None;
 285         while(1):
 286             packet=self.client.rxpacket();
 287             if packet!=None:
 288                 print "Message recieved: %s" % self.client.packet2str(packet);
 289                 break;
 290
 291
 292     def spit(self,freq):
 293         self.client.MCPsetrate(freq);
 294         self.client.MCPreqstatNormal();
 295
 296         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 297         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 298         print "Error Flags:  %02x\n" % self.client.peek8(0x2d);
 299         print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 300         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 301
 302
 303         packet = [0x00,
 304                    0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
 305                    0x00, 0x00,
 306                    0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
 307                       # LOWER nibble is DLC
 308                    0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
 309
 310         self.client.txpacket(packet);
 311
 312         if(self.client.peek8(0x2C)&0x80)==0x80:
 313             print "Error flag raised on transmission. Clearing this flag and proceeding.\n"
 314             print "INT Flags:  %02x" % self.client.peek8(0x2c);
 315             self.client.MCPbitmodify(0x2C,0x80,0x00);
 316             print "INT Flags modified to:  %02x\n" % self.client.peek8(0x2c);
 317             print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 318             self.client.MCPbitmodify(0x30,0x08,0x00);
 319             print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
 320
 321         print "message sending attempted.";
 322         print "Tx Errors:  %02x" % self.client.peek8(0x1c);
 323         print "Rx Errors:  %02x" % self.client.peek8(0x1d);
 324         print "Error Flags:  %02x" % self.client.peek8(0x2d);
 325
 326
 327
 328 if __name__ == "__main__":
 329
 330     parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
 331
 332         Run commands on the MCP2515. Valid commands are:
 333
 334             info
 335             test
 336             peek 0x(start) [0x(stop)]
 337             reset
 338
 339             sniff
 340             freqtest
 341             snifftest
 342             spit
 343         ''')
 344
 345
 346     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
 347     parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
 348     parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
 349     parser.add_argument('-o', '--output', default="../../contrib/ted/sniff_out.csv",help='Output file');
 350     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
 351     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
 352     parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
 353     parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
 354     parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
 355
 356
 357     args = parser.parse_args();
 358     freq = args.freq
 359     duration = args.time
 360     filename = args.output
 361     description = args.description
 362     verbose = args.verbose
 363     comments = args.comment
 364     debug = args.debug
 365     standardid = args.standardid
 366
 367     comm = GoodFETMCPCANCommunication();
 368
 369     ##########################
 370     #   INFO
 371     ##########################
 372     #
 373     # Prints MCP state info
 374     #
 375     if(args.verb=="info"):
 376         comm.printInfo()
 377
 378
 379     ##########################
 380     #   RESET
 381     ##########################
 382     #
 383     #
 384
 385     if(args.verb=="reset"):
 386         comm.reset()
 387
 388     ##########################
 389     #   SNIFF
 390     ##########################
 391     #
 392     #   runs in ListenOnly mode
 393     #   utility function to pull info off the car's CAN bus
 394     #
 395
 396     if(args.verb=="sniff"):
 397         comm.sniff(freq=freq,duration=duration,filename=filename,description=description,verbose=verbose,comment=comments, standardid=standardid)
 398
 399     ##########################
 400     #   SNIFF TEST
 401     ##########################
 402     #
 403     #   runs in NORMAL mode
 404     #   intended for NETWORKED MCP chips to verify proper operation
 405     #
 406
 407     if(args.verb=="snifftest"):
 408         comm.sniffTest(freq=freq)
 409
 410     ##########################
 411     #   FREQ TEST
 412     ##########################
 413     #
 414     #   runs in LISTEN ONLY mode
 415     #   tests bus for desired frequency --> sniffs bus for specified length of time and reports
 416     #   if packets were properly formatted
 417     #
 418     #
 419
 420     if(args.verb=="freqtest"):
 421         comm.freqtest(freq=freq)
 422
 423     ##########################
 424     #   iSniff
 425     ##########################
 426     #
 427     #    """ An intelligent sniffer, decodes message format """
 428     #    """ More features to be added soon """
 429     if(args.verb=="isniff"):
 430         comm.isniff(freq=freq)
 431
 432
 433     ##########################
 434     #   MCP TEST
 435     ##########################
 436     #
 437     #   Runs in LOOPBACK mode
 438     #   self-check diagnostic
 439     #   wasn't working before due to improperly formatted packet
 440     #
 441     #   ...add automatic packet check rather than making user verify successful packet
 442     if(args.verb=="test"):
 443         comm.test()
 444
 445     if(args.verb=="peek"):
 446         start=0x0000;
 447         if(len(sys.argv)>2):
 448             start=int(sys.argv[2],16);
 449         stop=start;
 450         if(len(sys.argv)>3):
 451             stop=int(sys.argv[3],16);
 452         print "Peeking from %04x to %04x." % (start,stop);
 453         while start<=stop:
 454             print "%04x: %02x" % (start,client.peek8(start));
 455             start=start+1;
 456
 457     ##########################
 458     #   SPIT
 459     ##########################
 460     #
 461     #   Basic packet transmission
 462     #   runs in NORMAL MODE!
 463     #
 464     #   checking TX error flags--> currently throwing error flags on every
 465     #   transmission (travis thinks this is because we're sniffing in listen-only
 466     #   and thus not generating an ack bit on the recieving board)
 467     if(args.verb=="spit"):
 468         comm.spit(freq=freq)
 469
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