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 = 2,duration = 1, verbose = True):
 446         print "started"
 447         self.client.serInit()
 448         self.spitSetup(freq)
 449         for i in range(lowID,highID+1, 1):
 450             self.spitSetup(freq)
 451             standardid = [i, i, i, i]
 452             #set filters
 453             self.addFilter(standardid, verbose = True)
 454
 455             #### split SID into different areas
 456             SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 457             SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 458             #create RTR packet
 459             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 460             #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
 461             #clear buffer
 462             packet1 = self.client.rxpacket();
 463             packet2 = self.client.rxpacket();
 464             #send in rtr request
 465             self.client.txpacket(packet)
 466             ## listen for 2 packets. one should be the rtr we requested the other should be
 467             ## a new packet response
 468             packet1=self.client.rxpacket();
 469             packet2=self.client.rxpacket();
 470             if( packet1 != None and packet2 != None):
 471                 print "packets recieved :\n "
 472                 print self.client.packet2parsedstr(packet1);
 473                 print self.client.packet2parsedstr(packet2);
 474                 continue
 475             elif( packet1 != None):
 476                 print self.client.packet2parsedstr(packet1)
 477             elif( packet2 != None):
 478                 print self.client.packet2parsedstr(packet2)
 479             trial= 2;
 480             # for each trial
 481             while( trial <= attempts):
 482                 print "trial: ", trial
 483                 self.client.MCPrts(TXB0=True);
 484                 starttime = time.time()
 485                 # this time we will sniff for the given amount of time to see if there is a
 486                 # time till the packets come in
 487                 while( (time.time()-starttime) < duration):
 488                     packet1=self.client.rxpacket();
 489                     packet2=self.client.rxpacket();
 490
 491                     if( packet1 != None and packet2 != None):
 492                         print "packets recieved :\n "
 493                         print self.client.packet2parsedstr(packet1);
 494                         print self.client.packet2parsedstr(packet2);
 495                         #break
 496                     elif( packet1 != None):
 497                         print "just packet1"
 498                         print self.client.packet2parsedstr(packet1)
 499                     elif( packet2 != None):
 500                         print "just packet2"
 501                         print self.client.packet2parsedstr(packet2)
 502                 trial += 1
 503         print "sweep complete"
 504
 505     def spitSetup(self,freq):
 506         self.reset();
 507         self.client.MCPsetrate(freq);
 508         self.client.MCPreqstatNormal();
 509
 510
 511     def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 512         self.spitSetup(freq);
 513         spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
 514
 515     def spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 516
 517
 518         #### split SID into different regs
 519         SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 520         SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 521
 522         if(packet == None):
 523
 524             # if no packet, RTR for inputted arbID
 525             # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
 526             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 527
 528
 529                 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 530                 #         0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 531                 #        # lower nibble is DLC
 532                 #        0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
 533         else:
 534
 535             # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
 536             #
 537             #    TODO: allow for variable-length packets
 538             #
 539             packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 540                   0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 541                   # lower nibble is DLC
 542                  packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
 543
 544
 545         if(debug):
 546             if self.client.MCPcanstat()>>5!=0:
 547                 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
 548             print "\nInitial state:"
 549             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 550             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 551             print "Error Flags:  %02x\n" % self.client.peek8(0x2d);
 552             print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 553             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 554             print "\n\nATTEMPTING TRANSMISSION!!!"
 555
 556
 557         print "Transmitting packet: "
 558         print self.client.packet2str(packet)
 559
 560         self.client.txpacket(packet);
 561
 562         if repeat:
 563             print "\nNow looping on transmit. "
 564             if duration!= None:
 565                 starttime = time.time();
 566                 while((time.time()-starttime < duration)):
 567                     self.client.MCPrts(TXB0=True);
 568                     print "MSG printed"
 569             else:
 570                 while(1):
 571                     self.client.MCPrts(TXB0=True);
 572         print "messages injected"
 573
 574         # MORE DEBUGGING
 575         if(debug):
 576             checkcount = 0;
 577             TXB0CTRL = self.client.peek8(0x30);
 578
 579             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 580             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 581             print "EFLG register:  %02x" % self.client.peek8(0x2d);
 582             print "TXB0CTRL: %02x" %TXB0CTRL;
 583             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 584
 585             while(TXB0CTRL | 0x00 != 0x00):
 586                 checkcount+=1;
 587                 TXB0CTRL = self.client.peek8(0x30);
 588                 if (checkcount %30 ==0):
 589                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 590                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 591                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 592                     print "TXB0CTRL: %02x" %TXB0CTRL;
 593                     print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 594
 595
 596     def setRate(self,freq):
 597         self.client.MCPsetrate(freq);
 598
 599
 600
 601
 602 if __name__ == "__main__":
 603
 604     parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
 605
 606         Run commands on the MCP2515. Valid commands are:
 607
 608             info
 609             test
 610             peek 0x(start) [0x(stop)]
 611             reset
 612
 613             sniff
 614             freqtest
 615             snifftest
 616             spit
 617         ''')
 618
 619
 620     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
 621     parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
 622     parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
 623     parser.add_argument('-o', '--output', default=None,help='Output file');
 624     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
 625     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
 626     parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
 627     parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
 628     parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
 629     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);
 630     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);
 631
 632
 633     args = parser.parse_args();
 634     freq = args.freq
 635     duration = args.time
 636     filename = args.output
 637     description = args.description
 638     verbose = args.verbose
 639     comments = args.comment
 640     debug = args.debug
 641     standardid = args.standardid
 642     faster=args.faster
 643     repeat = args.repeat
 644
 645     comm = GoodFETMCPCANCommunication();
 646
 647     ##########################
 648     #   INFO
 649     ##########################
 650     #
 651     # Prints MCP state info
 652     #
 653     if(args.verb=="info"):
 654         comm.printInfo()
 655
 656
 657     ##########################
 658     #   RESET
 659     ##########################
 660     #
 661     #
 662
 663     if(args.verb=="reset"):
 664         comm.reset()
 665
 666     ##########################
 667     #   SNIFF
 668     ##########################
 669     #
 670     #   runs in ListenOnly mode
 671     #   utility function to pull info off the car's CAN bus
 672     #
 673
 674     if(args.verb=="sniff"):
 675         comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
 676
 677     ##########################
 678     #   SNIFF TEST
 679     ##########################
 680     #
 681     #   runs in NORMAL mode
 682     #   intended for NETWORKED MCP chips to verify proper operation
 683     #
 684
 685     if(args.verb=="snifftest"):
 686         comm.sniffTest(freq=freq)
 687
 688
 689     ##########################
 690     #   FREQ TEST
 691     ##########################
 692     #
 693     #   runs in LISTEN ONLY mode
 694     #   tests bus for desired frequency --> sniffs bus for specified length of time and reports
 695     #   if packets were properly formatted
 696     #
 697     #
 698
 699     if(args.verb=="freqtest"):
 700         comm.freqtest(freq=freq)
 701
 702
 703
 704     ##########################
 705     #   iSniff
 706     ##########################
 707     #
 708     #    """ An intelligent sniffer, decodes message format """
 709     #    """ More features to be added soon """
 710     if(args.verb=="isniff"):
 711         comm.isniff(freq=freq)
 712
 713
 714     ##########################
 715     #   MCP TEST
 716     ##########################
 717     #
 718     #   Runs in LOOPBACK mode
 719     #   self-check diagnostic
 720     #   wasn't working before due to improperly formatted packet
 721     #
 722     #   ...add automatic packet check rather than making user verify successful packet
 723     if(args.verb=="test"):
 724         comm.test()
 725
 726     if(args.verb=="peek"):
 727         start=0x0000;
 728         if(len(sys.argv)>2):
 729             start=int(sys.argv[2],16);
 730         stop=start;
 731         if(len(sys.argv)>3):
 732             stop=int(sys.argv[3],16);
 733         print "Peeking from %04x to %04x." % (start,stop);
 734         while start<=stop:
 735             print "%04x: %02x" % (start,client.peek8(start));
 736             start=start+1;
 737
 738     ##########################
 739     #   SPIT
 740     ##########################
 741     #
 742     #   Basic packet transmission
 743     #   runs in NORMAL MODE!
 744     #
 745     #   checking TX error flags--> currently throwing error flags on every
 746     #   transmission (travis thinks this is because we're sniffing in listen-only
 747     #   and thus not generating an ack bit on the recieving board)
 748     if(args.verb=="spit"):
 749         comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)
 750
 751
 752
 753
 754
 755
 756
 757
 758
 759
 760
 761