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 import datetime
  19 import os
  20 from random import randrange
  21 from GoodFETMCPCAN import GoodFETMCPCAN;
  22 from intelhex import IntelHex;
  23
  24 class GoodFETMCPCANCommunication:
  25
  26     def __init__(self):
  27        self.client=GoodFETMCPCAN();
  28        self.client.serInit()
  29        self.client.MCPsetup();
  30        self.DATALOCATION = "../../contrib/ThayerData/"
  31
  32
  33
  34     def printInfo(self):
  35
  36         self.client.MCPreqstatConfiguration();
  37
  38         print "MCP2515 Info:\n\n";
  39
  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);
  46
  47         print "Timing Info:";
  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);
  53
  54         print "RX Info:";
  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));
  59
  60
  61         print "RX Buffers:"
  62         packet0=self.client.readrxbuffer(0);
  63         packet1=self.client.readrxbuffer(1);
  64         for foo in [packet0, packet1]:
  65            print self.client.packet2str(foo);
  66
  67     def reset(self):
  68         self.client.MCPsetup();
  69
  70
  71     ##########################
  72     #   SNIFF
  73     ##########################
  74
  75     def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True):
  76
  77         #reset eveything on the chip
  78         self.client.serInit()
  79         self.reset()
  80
  81         #### ON-CHIP FILTERING
  82         if(standardid != None):
  83             if( comment == None):
  84                 comment = ""
  85             self.client.MCPreqstatConfiguration();
  86             self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
  87             self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
  88             self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
  89             if(len(standardid)>2):
  90                self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
  91                self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
  92                self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
  93
  94             for filter,ID in enumerate(standardid):
  95
  96                if (filter==0):
  97                 RXFSIDH = 0x00;
  98                 RXFSIDL = 0x01;
  99                elif (filter==1):
 100                 RXFSIDH = 0x04;
 101                 RXFSIDL = 0x05;
 102                elif (filter==2):
 103                 RXFSIDH = 0x08;
 104                 RXFSIDL = 0x09;
 105                elif (filter==3):
 106                 RXFSIDH = 0x10;
 107                 RXFSIDL = 0x11;
 108                elif (filter==4):
 109                 RXFSIDH = 0x14;
 110                 RXFSIDL = 0x15;
 111                else:
 112                 RXFSIDH = 0x18;
 113                 RXFSIDL = 0x19;
 114
 115                #### split SID into different regs
 116                SIDlow = (ID & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 117                SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 118
 119                #write SID to regs
 120                self.client.poke8(RXFSIDH,SIDhigh);
 121                self.client.poke8(RXFSIDL, SIDlow);
 122
 123                if (verbose == True):
 124                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 125                comment += ("f%d" %(ID))
 126
 127
 128         self.client.MCPsetrate(freq);
 129
 130         # This will handle the files so that we do not loose them. each day we will create a new csv file
 131         if( filename==None):
 132             #get folder information (based on today's date)
 133             now = datetime.datetime.now()
 134             datestr = now.strftime("%Y%m%d")
 135             path = self.DATALOCATION+datestr+".csv"
 136             filename = path
 137
 138
 139         outfile = open(filename,'a');
 140         dataWriter = csv.writer(outfile,delimiter=',');
 141         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 142         dataWriter.writerow(['#' + description])
 143
 144         self.client.MCPreqstatNormal();
 145         print "Listening...";
 146         packetcount = 0;
 147         starttime = time.time();
 148
 149         while((time.time()-starttime < duration)):
 150
 151             if(faster):
 152                 packet=self.client.fastrxpacket();
 153             else:
 154                 packet=self.client.rxpacket();
 155
 156             if(debug == True):
 157                 #check packet status
 158                 MCPstatusReg = self.client.MCPrxstatus();
 159                 messagestat=MCPstatusReg&0xC0;
 160                 messagetype=MCPstatusReg&0x18;
 161                 if(messagestat == 0xC0):
 162                     print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 163                 elif(messagestat == 0x80):
 164                     print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 165                 elif(messagestat == 0x40):
 166                     print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 167                 elif(messagestat == 0x00):
 168                     print "No messages in buffers."
 169
 170             if packet!=None:
 171
 172                 packetcount+=1;
 173                 row = [];
 174                 row.append("%f"%time.time());
 175
 176                 if( verbose==True):
 177                     #if we want to print a parsed message
 178                     if( parsed == True):
 179 #                        packetParsed = self.client.packet2parsed(packet)
 180 #                        sId = packetParsed.get('sID')
 181 #                        msg = "sID: %04d" %sId
 182 #                        if( packetParsed.get('eID')):
 183 #                            msg += " eID: %d" %packetParsed.get('eID')
 184 #                        msg += " rtr: %d"%packetParsed['rtr']
 185 #                        length = packetParsed['length']
 186 #                        msg += " length: %d"%length
 187 #                        msg += " data:"
 188 #                        for i in range(0,length):
 189 #                            dbidx = 'db%d'%i
 190 #                            msg +=" %03d"% ord(packetParsed[dbidx])
 191                         msg = self.client.packet2parsedstr(packet)
 192                         print msg
 193                     # if we want to print just the message as it is read off the chip
 194                     else:
 195                         print self.client.packet2str(packet)
 196
 197                 if(debug == True):
 198
 199                     #check overflow
 200                     MCPeflgReg=self.client.peek8(0x2D);
 201                     print"EFLG register equals: %x" %MCPeflgReg;
 202                     if((MCPeflgReg & 0xC0)==0xC0):
 203                         print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
 204                     elif(MCPeflgReg & 0x80):
 205                         print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
 206                     elif(MCPeflgReg & 0x40):
 207                         print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
 208                     self.client.MCPbitmodify(0x2D,0xC0,0x00);
 209                     print"EFLG register set to: %x" % self.client.peek(0x2D);
 210
 211                     #check for errors
 212                     if (self.client.peek8(0x2C) & 0x80):
 213                         self.client.MCPbitmodify(0x2C,0x80,0x00);
 214                         print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
 215                         row.append(1);
 216                     else:
 217                         row.append(0);
 218                 else:
 219                     row.append(0);  #since we don't check for errors if we're not in debug mode...
 220
 221                 row.append(comment)
 222                 #how long the sniff was for
 223                 row.append(duration)
 224                 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
 225                 if(standardid != None):
 226                     row.append(1)
 227                 else:
 228                     row.append(0)
 229                 #write packet to file
 230                 for byte in packet:
 231                     row.append("%02x"%ord(byte));
 232                 dataWriter.writerow(row);
 233
 234         outfile.close()
 235         print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
 236         return packetcount
 237
 238
 239     def filterStdSweep(self, freq, low, high, time = 5):
 240         msgIDs = []
 241         self.client.serInit()
 242         self.client.MCPsetup()
 243         for i in range(low, high+1, 6):
 244             print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
 245             comment= "sweepFilter: "
 246             #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
 247             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)
 248             count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
 249             if( count != 0):
 250                 for j in range(i,i+5):
 251                     comment = "sweepFilter: "
 252                     #comment = "sweepFilter: %d" % (j)
 253                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
 254                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
 255                     if( count != 0):
 256                         msgIDs.append(j)
 257         return msgIDs
 258
 259     def sweepRandom(self, freq, number = 5, time = 200):
 260         msgIDs = []
 261         ids = []
 262         self.client.serInit()
 263         self.client.MCPsetup()
 264         for i in range(0,number+1,6):
 265             idsTemp = []
 266             comment = "sweepFilter: "
 267             for j in range(0,6,1):
 268                 id = randrange(2047)
 269                 #comment += "_%d" % id
 270                 idsTemp.append(id)
 271                 ids.append(id)
 272             print comment
 273             description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
 274             count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
 275             if( count != 0):
 276                 for element in idsTemp:
 277                     #comment = "sweepFilter: %d" % (element)
 278                     comment="sweepFilter: "
 279                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
 280                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
 281                     if( count != 0):
 282                         msgIDs.append(j)
 283         return msgIDs, ids
 284
 285     def sniffTest(self, freq):
 286
 287         rate = freq;
 288
 289         print "Calling MCPsetrate for %i." %rate;
 290         self.client.MCPsetrate(rate);
 291         self.client.MCPreqstatNormal();
 292
 293         print "Mode: %s" % self.client.MCPcanstatstr();
 294         print "CNF1: %02x" %self.client.peek8(0x2a);
 295         print "CNF2: %02x" %self.client.peek8(0x29);
 296         print "CNF3: %02x\n" %self.client.peek8(0x28);
 297
 298         while(1):
 299             packet=self.client.rxpacket();
 300
 301             if packet!=None:
 302                 if (self.client.peek8(0x2C) & 0x80):
 303                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 304                     print "malformed packet recieved: "+ self.client.packet2str(packet);
 305                 else:
 306                     print "properly formatted packet recieved" + self.client.packet2str(packet);
 307
 308
 309     def freqtest(self,freq):
 310
 311         self.client.MCPsetup();
 312
 313         self.client.MCPsetrate(freq);
 314         self.client.MCPreqstatListenOnly();
 315
 316         print "CAN Freq Test: %3d kHz" %freq;
 317
 318         x = 0;
 319         errors = 0;
 320
 321         starttime = time.time();
 322         while((time.time()-starttime < args.time)):
 323             packet=self.client.rxpacket();
 324             if packet!=None:
 325                 x+=1;
 326
 327                 if (self.client.peek8(0x2C) & 0x80):
 328                     print "malformed packet recieved"
 329                     errors+=1;
 330                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 331                 else:
 332                     print self.client.packet2str(packet);
 333
 334         print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
 335
 336
 337     def isniff(self,freq):
 338         """ An intelligent sniffer, decodes message format """
 339         """ More features to be added soon """
 340
 341         self.client.MCPsetrate(freq);
 342         self.client.MCPreqstatListenOnly();
 343         while 1:
 344             packet=self.client.rxpacket();
 345             if packet!=None:
 346                 plist=[];
 347                 for byte in packet:
 348                     plist.append(byte);
 349                 arbid=plist[0:2];
 350                 eid=plist[2:4];
 351                 dlc=plist[4:5];
 352                 data=plist[5:13];
 353                 print "\nArbID: " + self.client.packet2str(arbid);
 354                 print "EID: " + self.client.packet2str(eid);
 355                 print "DLC: " + self.client.packet2str(dlc);
 356                 print "Data: " + self.client.packet2str(data);
 357
 358     def test(self):
 359
 360         comm.reset();
 361         print "Just reset..."
 362         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 363         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 364         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 365         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 366         self.client.MCPreqstatConfiguration();
 367         self.client.poke8(0x60,0x66);
 368         self.client.MCPsetrate(500);
 369         self.client.MCPreqstatNormal();
 370         print "In normal mode now"
 371         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 372         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 373         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 374         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 375         print "Waiting on packets.";
 376         checkcount = 0;
 377         packet=None;
 378         while(1):
 379             packet=self.client.rxpacket();
 380             if packet!=None:
 381                 print "Message recieved: %s" % self.client.packet2str(packet);
 382             else:
 383                 checkcount=checkcount+1;
 384                 if (checkcount%30==0):
 385                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 386                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 387                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 388                     print "CANINTF: %02x"  %self.client.peek8(0x2C);
 389
 390
 391
 392
 393     def addFilter(self,standardid, verbose= True):
 394         comment = None
 395         ### ON-CHIP FILTERING
 396         if(standardid != None):
 397             self.client.MCPreqstatConfiguration();
 398             self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
 399             self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
 400             self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
 401             if(len(standardid)>2):
 402                self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
 403                self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
 404                self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
 405
 406             for filter,ID in enumerate(standardid):
 407
 408                if (filter==0):
 409                 RXFSIDH = 0x00;
 410                 RXFSIDL = 0x01;
 411                elif (filter==1):
 412                 RXFSIDH = 0x04;
 413                 RXFSIDL = 0x05;
 414                elif (filter==2):
 415                 RXFSIDH = 0x08;
 416                 RXFSIDL = 0x09;
 417                elif (filter==3):
 418                 RXFSIDH = 0x10;
 419                 RXFSIDL = 0x11;
 420                elif (filter==4):
 421                 RXFSIDH = 0x14;
 422                 RXFSIDL = 0x15;
 423                else:
 424                 RXFSIDH = 0x18;
 425                 RXFSIDL = 0x19;
 426
 427                #### split SID into different regs
 428                SIDlow = (ID & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 429                SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 430
 431                #write SID to regs
 432                self.client.poke8(RXFSIDH,SIDhigh);
 433                self.client.poke8(RXFSIDL, SIDlow);
 434
 435                if (verbose == True):
 436                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 437
 438         self.client.MCPreqstatNormal();
 439
 440
 441     # this will sweep through the given ids to request a packet and then sniff on that
 442     # id for a given amount duration. This will be repeated the number of attempts time
 443
 444     #at the moment this is set to switch to the next id once  a message is identified
 445     def rtrSweep(self,freq,lowID,highID, attempts = 1,duration = 1, verbose = True):
 446         #set up file
 447         now = datetime.datetime.now()
 448         datestr = now.strftime("%Y%m%d")
 449         path = self.DATALOCATION+datestr+"_rtr.csv"
 450         filename = path
 451         outfile = open(filename,'a');
 452         dataWriter = csv.writer(outfile,delimiter=',');
 453         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 454         dataWriter.writerow(['#' + "rtr sweep from %d to %d"%(lowID,highID)])
 455         print "started"
 456         #self.client.serInit()
 457         #self.spitSetup(freq)
 458         for i in range(lowID,highID+1, 1):
 459             self.client.serInit()
 460             self.spitSetup(freq)
 461             standardid = [i, i, i, i]
 462             #set filters
 463             self.addFilter(standardid, verbose = True)
 464
 465             #### split SID into different areas
 466             SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 467             SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 468             #create RTR packet
 469             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 470             dataWriter.writerow(["#requested id %d"%i])
 471             #self.client.poke8(0x2C,0x00);  #clear the CANINTF register; we care about bits 0 and 1 (RXnIF flags) which indicate a message is being held
 472             #clear buffer
 473             packet1 = self.client.rxpacket();
 474             packet2 = self.client.rxpacket();
 475             #send in rtr request
 476             self.client.txpacket(packet)
 477             ## listen for 2 packets. one should be the rtr we requested the other should be
 478             ## a new packet response
 479             starttime = time.tim()
 480             while ((time.time() - starttime) < duration):
 481                 packet = self.client.rxpacket()
 482                 row = []
 483                 row.append("%f"%time.time()) #timestamp
 484                 row.append(0) #error flag (not checkign)
 485                 row.append("rtrRequest_%d"%i) #comment
 486                 row.append(duration) #sniff time
 487                 row.append(1) # filtering boolean
 488                 for byte in packet:
 489                     row.append("%02x"%ord(byte));
 490                 dataWriter.writerow(row)
 491                 print self.client.packet2parsedstr(packet)
 492 #            packet1=self.client.rxpacket();
 493 #            packet2=self.client.rxpacket();
 494 #            if( packet1 != None and packet2 != None):
 495 #                print "packets recieved :\n "
 496 #                print self.client.packet2parsedstr(packet1);
 497 #                print self.client.packet2parsedstr(packet2);
 498 #                continue
 499 #            elif( packet1 != None):
 500 #                print self.client.packet2parsedstr(packet1)
 501 #            elif( packet2 != None):
 502 #                print self.client.packet2parsedstr(packet2)
 503             trial= 2;
 504             # for each trial
 505             while( trial <= attempts):
 506                 print "trial: ", trial
 507                 self.client.MCPrts(TXB0=True);
 508                 starttime = time.time()
 509                 # this time we will sniff for the given amount of time to see if there is a
 510                 # time till the packets come in
 511                 while( (time.time()-starttime) < duration):
 512                     packet=self.client.rxpacket();
 513                     row = []
 514                     row.append("%f"%time.time()) #timestamp
 515                     row.append(0) #error flag (not checking)
 516                     row.append("rtrRequest_%d"%i) #comment
 517                     row.append(duration) #sniff time
 518                     row.append(1) # filtering boolean
 519                     for byte in packet:
 520                         row.append("%02x"%ord(byte));
 521                     dataWriter.writerow(row)
 522                     print self.client.packet2parsedstr(packet)
 523 #                    packet2=self.client.rxpacket();
 524 #
 525 #                    if( packet1 != None and packet2 != None):
 526 #                        print "packets recieved :\n "
 527 #                        print self.client.packet2parsedstr(packet1);
 528 #                        print self.client.packet2parsedstr(packet2);
 529 #                        #break
 530 #                    elif( packet1 != None):
 531 #                        print "just packet1"
 532 #                        print self.client.packet2parsedstr(packet1)
 533 #                    elif( packet2 != None):
 534 #                        print "just packet2"
 535 #                        print self.client.packet2parsedstr(packet2)
 536                 trial += 1
 537         print "sweep complete"
 538         outfile.close()
 539
 540     def spitSetup(self,freq):
 541         self.reset();
 542         self.client.MCPsetrate(freq);
 543         self.client.MCPreqstatNormal();
 544
 545
 546     def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 547         self.spitSetup(freq);
 548         spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
 549
 550     def spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 551
 552
 553         #### split SID into different regs
 554         SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 555         SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 556
 557         if(packet == None):
 558
 559             # if no packet, RTR for inputted arbID
 560             # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
 561             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 562
 563
 564                 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 565                 #         0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 566                 #        # lower nibble is DLC
 567                 #        0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
 568         else:
 569
 570             # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
 571             #
 572             #    TODO: allow for variable-length packets
 573             #
 574             packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 575                   0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 576                   # lower nibble is DLC
 577                  packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
 578
 579
 580         if(debug):
 581             if self.client.MCPcanstat()>>5!=0:
 582                 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
 583             print "\nInitial state:"
 584             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 585             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 586             print "Error Flags:  %02x\n" % self.client.peek8(0x2d);
 587             print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 588             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 589             print "\n\nATTEMPTING TRANSMISSION!!!"
 590
 591
 592         print "Transmitting packet: "
 593         print self.client.packet2str(packet)
 594
 595         self.client.txpacket(packet);
 596
 597         if repeat:
 598             print "\nNow looping on transmit. "
 599             if duration!= None:
 600                 starttime = time.time();
 601                 while((time.time()-starttime < duration)):
 602                     self.client.MCPrts(TXB0=True);
 603                     print "MSG printed"
 604             else:
 605                 while(1):
 606                     self.client.MCPrts(TXB0=True);
 607         print "messages injected"
 608
 609         # MORE DEBUGGING
 610         if(debug):
 611             checkcount = 0;
 612             TXB0CTRL = self.client.peek8(0x30);
 613
 614             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 615             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 616             print "EFLG register:  %02x" % self.client.peek8(0x2d);
 617             print "TXB0CTRL: %02x" %TXB0CTRL;
 618             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 619
 620             while(TXB0CTRL | 0x00 != 0x00):
 621                 checkcount+=1;
 622                 TXB0CTRL = self.client.peek8(0x30);
 623                 if (checkcount %30 ==0):
 624                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 625                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 626                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 627                     print "TXB0CTRL: %02x" %TXB0CTRL;
 628                     print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 629
 630
 631     def setRate(self,freq):
 632         self.client.MCPsetrate(freq);
 633
 634
 635
 636
 637 if __name__ == "__main__":
 638
 639     parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
 640
 641         Run commands on the MCP2515. Valid commands are:
 642
 643             info
 644             test
 645             peek 0x(start) [0x(stop)]
 646             reset
 647
 648             sniff
 649             freqtest
 650             snifftest
 651             spit
 652         ''')
 653
 654
 655     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
 656     parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
 657     parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
 658     parser.add_argument('-o', '--output', default=None,help='Output file');
 659     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
 660     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
 661     parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
 662     parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
 663     parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
 664     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);
 665     parser.add_argument('-r', '--repeat', action='store_true', help='-r with "spit" will continuously send the inputted packet. This will put the GoodTHOPTHER into an infinite loop.', default=False);
 666
 667
 668     args = parser.parse_args();
 669     freq = args.freq
 670     duration = args.time
 671     filename = args.output
 672     description = args.description
 673     verbose = args.verbose
 674     comments = args.comment
 675     debug = args.debug
 676     standardid = args.standardid
 677     faster=args.faster
 678     repeat = args.repeat
 679
 680     comm = GoodFETMCPCANCommunication();
 681
 682     ##########################
 683     #   INFO
 684     ##########################
 685     #
 686     # Prints MCP state info
 687     #
 688     if(args.verb=="info"):
 689         comm.printInfo()
 690
 691
 692     ##########################
 693     #   RESET
 694     ##########################
 695     #
 696     #
 697
 698     if(args.verb=="reset"):
 699         comm.reset()
 700
 701     ##########################
 702     #   SNIFF
 703     ##########################
 704     #
 705     #   runs in ListenOnly mode
 706     #   utility function to pull info off the car's CAN bus
 707     #
 708
 709     if(args.verb=="sniff"):
 710         comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
 711
 712     ##########################
 713     #   SNIFF TEST
 714     ##########################
 715     #
 716     #   runs in NORMAL mode
 717     #   intended for NETWORKED MCP chips to verify proper operation
 718     #
 719
 720     if(args.verb=="snifftest"):
 721         comm.sniffTest(freq=freq)
 722
 723
 724     ##########################
 725     #   FREQ TEST
 726     ##########################
 727     #
 728     #   runs in LISTEN ONLY mode
 729     #   tests bus for desired frequency --> sniffs bus for specified length of time and reports
 730     #   if packets were properly formatted
 731     #
 732     #
 733
 734     if(args.verb=="freqtest"):
 735         comm.freqtest(freq=freq)
 736
 737
 738
 739     ##########################
 740     #   iSniff
 741     ##########################
 742     #
 743     #    """ An intelligent sniffer, decodes message format """
 744     #    """ More features to be added soon """
 745     if(args.verb=="isniff"):
 746         comm.isniff(freq=freq)
 747
 748
 749     ##########################
 750     #   MCP TEST
 751     ##########################
 752     #
 753     #   Runs in LOOPBACK mode
 754     #   self-check diagnostic
 755     #   wasn't working before due to improperly formatted packet
 756     #
 757     #   ...add automatic packet check rather than making user verify successful packet
 758     if(args.verb=="test"):
 759         comm.test()
 760
 761     if(args.verb=="peek"):
 762         start=0x0000;
 763         if(len(sys.argv)>2):
 764             start=int(sys.argv[2],16);
 765         stop=start;
 766         if(len(sys.argv)>3):
 767             stop=int(sys.argv[3],16);
 768         print "Peeking from %04x to %04x." % (start,stop);
 769         while start<=stop:
 770             print "%04x: %02x" % (start,client.peek8(start));
 771             start=start+1;
 772
 773     ##########################
 774     #   SPIT
 775     ##########################
 776     #
 777     #   Basic packet transmission
 778     #   runs in NORMAL MODE!
 779     #
 780     #   checking TX error flags--> currently throwing error flags on every
 781     #   transmission (travis thinks this is because we're sniffing in listen-only
 782     #   and thus not generating an ack bit on the recieving board)
 783     if(args.verb=="spit"):
 784         comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)
 785
 786
 787
 788
 789
 790
 791
 792
 793
 794
 795
 796