2 # GoodFET SPI Flash Client
4 # (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
8 # 1) getting hot reads on frequency
9 # 2) allow sniffing in "normal" mode to get ack bits
10 # --check if that's whats causing error flags in board-to-board transmission
17 import csv, time, argparse;
20 from GoodFETMCPCAN import GoodFETMCPCAN;
21 from intelhex import IntelHex;
23 class GoodFETMCPCANCommunication:
25 def __init__(self, filename=None):
26 self.client=GoodFETMCPCAN();
28 self.client.MCPsetup();
31 # create a filename with today's date
32 now = datetime.datetime.now()
33 self.filename = "../../contrib/ThayerData/"
34 self.filename += now.strftime("%Y%m%d")
36 self.filename=filename
38 ##########################
40 ##########################
42 # Prints MCP state info
45 print "MCP2515 Info:\n\n";
47 print "Mode: %s" % self.client.MCPcanstatstr();
48 print "Read Status: %02x" % self.client.MCPreadstatus();
49 print "Rx Status: %02x" % self.client.MCPrxstatus();
50 print "Tx Errors: %3d" % self.client.peek8(0x1c);
51 print "Rx Errors: %3d\n" % self.client.peek8(0x1d);
54 print "CNF1: %02x" %self.client.peek8(0x2a);
55 print "CNF2: %02x" %self.client.peek8(0x29);
56 print "CNF3: %02x\n" %self.client.peek8(0x28);
57 print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
58 print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
60 packet0=self.client.readrxbuffer(0);
61 packet1=self.client.readrxbuffer(1);
62 for foo in [packet0, packet1]:
63 print self.client.packet2str(foo);
66 self.client.MCPsetup();
68 def sniff(self,freq,duration,description, verbose=True, comment=None):
69 self.client.MCPsetrate(freq);
70 outfile = open(self.filename,'a');
71 dataWriter = csv.writer(outfile,delimiter=',');
72 dataWriter.writerow(['# Time Error Bytes 1-13']);
73 dataWriter.writerow(['#' + description])
75 self.client.MCPreqstatListenOnly();
78 starttime = time.time();
80 while((time.time()-starttime < duration)):
81 packet=self.client.rxpacket();
84 print self.client.packet2str(packet)
87 row.append("%f"%time.time());
88 if (self.client.peek8(0x2C) & 0x80):
89 self.client.MCPbitmodify(0x2C,0x80,0x00);
90 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
98 row.append("%02x"%ord(byte));
99 dataWriter.writerow(row);
102 print "Listened for %x seconds, captured %x packets." %(duration,packetcount);
106 def sniffTest(self, freq):
107 self.client.MCPsetup();
111 print "Calling MCPsetrate for %i." %rate;
112 self.client.MCPsetrate(rate);
113 self.client.MCPreqstatNormal();
115 print "Mode: %s" % self.client.MCPcanstatstr();
116 print "CNF1: %02x" %self.client.peek8(0x2a);
117 print "CNF2: %02x" %self.client.peek8(0x29);
118 print "CNF3: %02x\n" %self.client.peek8(0x28);
121 packet=self.client.rxpacket();
124 if (self.client.peek8(0x2C) & 0x80):
125 self.client.MCPbitmodify(0x2C,0x80,0x00);
126 print "malformed packet recieved: "+ self.client.packet2str(packet);
128 print "properly formatted packet recieved" + self.client.packet2str(packet);
131 def freqtest(self,freq):
132 self.client.MCPsetup();
134 self.client.MCPsetrate(freq);
135 self.client.MCPreqstatListenOnly();
137 print "CAN Freq Test: %3d kHz" %freq;
142 starttime = time.time();
143 while((time.time()-starttime < args.time)):
144 packet=self.client.rxpacket();
148 if (self.client.peek8(0x2C) & 0x80):
149 print "malformed packet recieved"
151 self.client.MCPbitmodify(0x2C,0x80,0x00);
153 print self.client.packet2str(packet);
155 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
158 def isniff(self,freq):
159 """ An intelligent sniffer, decodes message format """
160 """ More features to be added soon """
162 self.client.MCPsetrate(freq);
163 self.client.MCPreqstatListenOnly();
165 packet=self.client.rxpacket();
174 print "\nArbID: " + self.client.packet2str(arbid);
175 print "EID: " + self.client.packet2str(eid);
176 print "DLC: " + self.client.packet2str(dlc);
177 print "Data: " + self.client.packet2str(data);
180 print "\nMCP2515 Self Test:";
182 #Switch to config mode and try to rewrite TEC.
183 self.client.MCPreqstatConfiguration();
184 self.client.poke8(0x00,0xde);
185 if self.client.peek8(0x00)!=0xde:
186 print "ERROR: Poke to TEC failed.";
188 print "SUCCESS: Register read/write.";
190 #Switch to Loopback mode and try to catch our own packet.
191 self.client.MCPreqstatLoopback();
194 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
196 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
197 # LOWER nibble is DLC
198 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
199 self.client.txpacket(packet1);
200 self.client.txpacket(packet1);
201 print "Waiting on loopback packets.";
204 packet=self.client.rxpacket();
206 print "Message recieved: %s" % self.client.packet2str(packet);
211 self.client.MCPsetrate(freq);
212 self.client.MCPreqstatNormal();
214 print "Tx Errors: %3d" % self.client.peek8(0x1c);
215 print "Rx Errors: %3d" % self.client.peek8(0x1d);
216 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
217 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
218 print "CANINTF: %02x" %self.client.peek8(0x2C);
222 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
224 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
225 # LOWER nibble is DLC
226 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
228 self.client.txpacket(packet);
230 if(self.client.peek8(0x2C)&0x80)==0x80:
231 print "Error flag raised on transmission. Clearing this flag and proceeding.\n"
232 print "INT Flags: %02x" % self.client.peek8(0x2c);
233 self.client.MCPbitmodify(0x2C,0x80,0x00);
234 print "INT Flags modified to: %02x\n" % self.client.peek8(0x2c);
235 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
236 self.client.MCPbitmodify(0x30,0x08,0x00);
237 print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
239 print "message sending attempted.";
240 print "Tx Errors: %02x" % self.client.peek8(0x1c);
241 print "Rx Errors: %02x" % self.client.peek8(0x1d);
242 print "Error Flags: %02x" % self.client.peek8(0x2d);
246 if __name__ == "__main__":
248 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
250 Run commands on the MCP2515. Valid commands are:
254 peek 0x(start) [0x(stop)]
264 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
265 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
266 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
267 parser.add_argument('-o', '--output', default="../../contrib/ted/sniff_out.csv",help='Output file');
268 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
269 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
270 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
272 args = parser.parse_args();
275 filename = args.output
276 description = args.description
277 verbose = args.verbose
278 comments = args.comment
280 comm = GoodFETMCPCANCommunication();
282 ##########################
284 ##########################
286 # Prints MCP state info
288 if(args.verb=="info"):
292 ##########################
294 ##########################
298 if(args.verb=="reset"):
301 ##########################
303 ##########################
305 # runs in ListenOnly mode
306 # utility function to pull info off the car's CAN bus
309 if(args.verb=="sniff"):
310 comm.sniff(freq=freq,duration=duration,filename=filename,description=description,verbose=verbose,comment=comments)
314 ##########################
316 ##########################
318 # runs in NORMAL mode
319 # intended for NETWORKED MCP chips to verify proper operation
322 if(args.verb=="snifftest"):
323 comm.sniffTest(freq=freq)
325 ##########################
327 ##########################
329 # runs in LISTEN ONLY mode
330 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
331 # if packets were properly formatted
335 if(args.verb=="freqtest"):
336 comm.freqtest(freq=freq)
338 ##########################
340 ##########################
342 # """ An intelligent sniffer, decodes message format """
343 # """ More features to be added soon """
344 if(args.verb=="isniff"):
345 comm.isniff(freq=freq)
348 ##########################
350 ##########################
352 # Runs in LOOPBACK mode
353 # self-check diagnostic
354 # wasn't working before due to improperly formatted packet
356 # ...add automatic packet check rather than making user verify successful packet
357 if(args.verb=="test"):
361 if(args.verb=="peek"):
364 start=int(sys.argv[2],16);
367 stop=int(sys.argv[3],16);
368 print "Peeking from %04x to %04x." % (start,stop);
370 print "%04x: %02x" % (start,client.peek8(start));
373 ##########################
375 ##########################
377 # Basic packet transmission
378 # runs in NORMAL MODE!
380 # checking TX error flags--> currently throwing error flags on every
381 # transmission (travis thinks this is because we're sniffing in listen-only
382 # and thus not generating an ack bit on the recieving board)
383 if(args.verb=="spit"):