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