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;
21 from GoodFETMCPCAN import GoodFETMCPCAN;
22 from intelhex import IntelHex;
24 class GoodFETMCPCANCommunication:
27 self.client=GoodFETMCPCAN();
29 self.client.MCPsetup();
30 self.DATALOCATION = "../../contrib/ThayerData/"
36 self.client.MCPreqstatConfiguration();
38 print "MCP2515 Info:\n\n";
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);
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);
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));
62 packet0=self.client.readrxbuffer(0);
63 packet1=self.client.readrxbuffer(1);
64 for foo in [packet0, packet1]:
65 print self.client.packet2str(foo);
68 self.client.MCPsetup();
71 ##########################
73 ##########################
75 def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False):
77 #### ON-CHIP FILTERING
78 if(standardid != None):
79 comment = comment+"Filtering for SID ";
81 self.client.MCPreqstatConfiguration();
82 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
83 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
84 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
85 if(len(standardid)>2):
86 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
87 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
88 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
90 for filter,ID in enumerate(standardid):
111 #### split SID into different regs
112 SIDlow = (ID & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5
113 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
116 self.client.poke8(RXFSIDH,SIDhigh);
117 self.client.poke8(RXFSIDL, SIDlow);
119 if (verbose == True):
120 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
121 comment = comment + ("%d " %(ID))
124 self.client.MCPsetrate(freq);
126 # This will handle the files so that we do not loose them. each day we will create a new csv file
128 #get folder information (based on today's date)
129 now = datetime.datetime.now()
130 datestr = now.strftime("%Y%m%d")
131 path = self.DATALOCATION+datestr+".csv"
135 outfile = open(filename,'a');
136 dataWriter = csv.writer(outfile,delimiter=',');
137 dataWriter.writerow(['# Time Error Bytes 1-13']);
138 dataWriter.writerow(['#' + description])
140 self.client.MCPreqstatNormal();
141 print "Listening...";
143 starttime = time.time();
145 while((time.time()-starttime < duration)):
146 packet=self.client.rxpacket();
150 MCPstatusReg = self.client.MCPrxstatus();
151 messagestat=MCPstatusReg&0xC0;
152 messagetype=MCPstatusReg&0x18;
153 if(messagestat == 0xC0):
154 print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
155 elif(messagestat == 0x80):
156 print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
157 elif(messagestat == 0x40):
158 print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
159 elif(messagestat == 0x00):
160 print "No messages in buffers."
166 row.append("%f"%time.time());
169 print self.client.packet2str(packet)
174 MCPeflgReg=self.client.peek8(0x2D);
175 print"EFLG register equals: %x" %MCPeflgReg;
176 if((MCPeflgReg & 0xC0)==0xC0):
177 print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
178 elif(MCPeflgReg & 0x80):
179 print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
180 elif(MCPeflgReg & 0x40):
181 print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
182 self.client.MCPbitmodify(0x2D,0xC0,0x00);
183 print"EFLG register set to: %x" % self.client.peek(0x2D);
186 if (self.client.peek8(0x2C) & 0x80):
187 self.client.MCPbitmodify(0x2C,0x80,0x00);
188 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
193 row.append(0); #since we don't check for errors if we're not in debug mode...
196 #write packet to file
198 row.append("%02x"%ord(byte));
199 dataWriter.writerow(row);
202 print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
206 def filterStdSweep(self, freq, time = 5):
208 for i in range(0, 2047, 6):
209 print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
210 comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
211 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)
212 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
214 for j in range(i,i+5):
215 comment = "sweepFilter: %d" % (j)
216 description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
217 count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j])
222 def sniffTest(self, freq):
226 print "Calling MCPsetrate for %i." %rate;
227 self.client.MCPsetrate(rate);
228 self.client.MCPreqstatNormal();
230 print "Mode: %s" % self.client.MCPcanstatstr();
231 print "CNF1: %02x" %self.client.peek8(0x2a);
232 print "CNF2: %02x" %self.client.peek8(0x29);
233 print "CNF3: %02x\n" %self.client.peek8(0x28);
236 packet=self.client.rxpacket();
239 if (self.client.peek8(0x2C) & 0x80):
240 self.client.MCPbitmodify(0x2C,0x80,0x00);
241 print "malformed packet recieved: "+ self.client.packet2str(packet);
243 print "properly formatted packet recieved" + self.client.packet2str(packet);
246 def freqtest(self,freq):
247 self.client.MCPsetup();
249 self.client.MCPsetrate(freq);
250 self.client.MCPreqstatListenOnly();
252 print "CAN Freq Test: %3d kHz" %freq;
257 starttime = time.time();
258 while((time.time()-starttime < args.time)):
259 packet=self.client.rxpacket();
263 if (self.client.peek8(0x2C) & 0x80):
264 print "malformed packet recieved"
266 self.client.MCPbitmodify(0x2C,0x80,0x00);
268 print self.client.packet2str(packet);
270 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
273 def isniff(self,freq):
274 """ An intelligent sniffer, decodes message format """
275 """ More features to be added soon """
277 self.client.MCPsetrate(freq);
278 self.client.MCPreqstatListenOnly();
280 packet=self.client.rxpacket();
289 print "\nArbID: " + self.client.packet2str(arbid);
290 print "EID: " + self.client.packet2str(eid);
291 print "DLC: " + self.client.packet2str(dlc);
292 print "Data: " + self.client.packet2str(data);
295 print "\nMCP2515 Self Test:";
297 #Switch to config mode and try to rewrite TEC.
298 self.client.MCPreqstatConfiguration();
299 self.client.poke8(0x00,0xde);
300 if self.client.peek8(0x00)!=0xde:
301 print "ERROR: Poke to TEC failed.";
303 print "SUCCESS: Register read/write.";
305 #Switch to Loopback mode and try to catch our own packet.
306 self.client.MCPreqstatLoopback();
309 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
311 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
312 # LOWER nibble is DLC
313 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
314 self.client.txpacket(packet1);
315 self.client.txpacket(packet1);
316 print "Waiting on loopback packets.";
319 packet=self.client.rxpacket();
321 print "Message recieved: %s" % self.client.packet2str(packet);
325 def spit(self,freq, standardid,debug):
327 self.client.MCPsetrate(freq);
328 self.client.MCPreqstatNormal();
331 print "Tx Errors: %3d" % self.client.peek8(0x1c);
332 print "Rx Errors: %3d" % self.client.peek8(0x1d);
333 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
334 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
335 print "CANINTF: %02x" %self.client.peek8(0x2C);
337 #### split SID into different regs
338 SIDlow = (standardid[0] & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5
339 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
341 packet = [SIDhigh, SIDlow,
342 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
343 # lower nibble is DLC
344 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
346 self.client.txpacket(packet);
348 if(self.client.peek8(0x2C)&0x80)==0x80:
349 print "Error flag raised on transmission. Clearing this flag and proceeding.\n"
350 print "INT Flags: %02x" % self.client.peek8(0x2c);
351 self.client.MCPbitmodify(0x2C,0x80,0x00);
352 print "INT Flags modified to: %02x\n" % self.client.peek8(0x2c);
353 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
354 self.client.MCPbitmodify(0x30,0x08,0x00);
355 print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
358 print "message sending attempted.";
359 print "Tx Errors: %02x" % self.client.peek8(0x1c);
360 print "Rx Errors: %02x" % self.client.peek8(0x1d);
361 print "Error Flags: %02x" % self.client.peek8(0x2d);
365 if __name__ == "__main__":
367 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
369 Run commands on the MCP2515. Valid commands are:
373 peek 0x(start) [0x(stop)]
383 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
384 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
385 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
386 parser.add_argument('-o', '--output', default=None,help='Output file');
387 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
388 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
389 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
390 parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
391 parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
394 args = parser.parse_args();
397 filename = args.output
398 description = args.description
399 verbose = args.verbose
400 comments = args.comment
402 standardid = args.standardid
404 comm = GoodFETMCPCANCommunication();
406 ##########################
408 ##########################
410 # Prints MCP state info
412 if(args.verb=="info"):
416 ##########################
418 ##########################
422 if(args.verb=="reset"):
425 ##########################
427 ##########################
429 # runs in ListenOnly mode
430 # utility function to pull info off the car's CAN bus
433 if(args.verb=="sniff"):
434 comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug)
436 ##########################
438 ##########################
440 # runs in NORMAL mode
441 # intended for NETWORKED MCP chips to verify proper operation
444 if(args.verb=="snifftest"):
445 comm.sniffTest(freq=freq)
448 ##########################
450 ##########################
452 # runs in LISTEN ONLY mode
453 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
454 # if packets were properly formatted
458 if(args.verb=="freqtest"):
459 comm.freqtest(freq=freq)
463 ##########################
465 ##########################
467 # """ An intelligent sniffer, decodes message format """
468 # """ More features to be added soon """
469 if(args.verb=="isniff"):
470 comm.isniff(freq=freq)
473 ##########################
475 ##########################
477 # Runs in LOOPBACK mode
478 # self-check diagnostic
479 # wasn't working before due to improperly formatted packet
481 # ...add automatic packet check rather than making user verify successful packet
482 if(args.verb=="test"):
485 if(args.verb=="peek"):
488 start=int(sys.argv[2],16);
491 stop=int(sys.argv[3],16);
492 print "Peeking from %04x to %04x." % (start,stop);
494 print "%04x: %02x" % (start,client.peek8(start));
497 ##########################
499 ##########################
501 # Basic packet transmission
502 # runs in NORMAL MODE!
504 # checking TX error flags--> currently throwing error flags on every
505 # transmission (travis thinks this is because we're sniffing in listen-only
506 # and thus not generating an ack bit on the recieving board)
507 if(args.verb=="spit"):
508 comm.spit(freq=freq, standardid=standardid, debug=debug)