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 import Queue
  24
  25 class GoodFETMCPCANCommunication:
  26
  27     def __init__(self):
  28        self.client=GoodFETMCPCAN();
  29        self.client.serInit()
  30        self.client.MCPsetup();
  31        self.DATALOCATION = "../../contrib/ThayerData/"
  32
  33
  34
  35     def printInfo(self):
  36
  37         self.client.MCPreqstatConfiguration();
  38
  39         print "MCP2515 Info:\n\n";
  40
  41         print "Mode: %s" % self.client.MCPcanstatstr();
  42         print "Read Status: %02x" % self.client.MCPreadstatus();
  43         print "Rx Status:   %02x" % self.client.MCPrxstatus();
  44         print "Error Flags:  %02x" % self.client.peek8(0x2D);
  45         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
  46         print "Rx Errors:  %3d\n" % self.client.peek8(0x1d);
  47
  48         print "Timing Info:";
  49         print "CNF1: %02x" %self.client.peek8(0x2a);
  50         print "CNF2: %02x" %self.client.peek8(0x29);
  51         print "CNF3: %02x\n" %self.client.peek8(0x28);
  52         print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
  53         print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
  54
  55         print "RX Info:";
  56         print "RXB0: %02x" %self.client.peek8(0x60);
  57         print "RXB1: %02x" %self.client.peek8(0x70);
  58         print "RXB0 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x20), self.client.peek8(0x21), self.client.peek8(0x22), self.client.peek8(0x23));
  59         print "RXB1 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x24), self.client.peek8(0x25), self.client.peek8(0x26), self.client.peek8(0x27));
  60
  61
  62         print "RX Buffers:"
  63         packet0=self.client.readrxbuffer(0);
  64         packet1=self.client.readrxbuffer(1);
  65         for foo in [packet0, packet1]:
  66            print self.client.packet2str(foo);
  67
  68     def reset(self):
  69         self.client.MCPsetup();
  70
  71
  72     ##########################
  73     #   SNIFF
  74     ##########################
  75
  76     def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True, data = None):
  77
  78         #reset eveything on the chip
  79         self.client.serInit()
  80         self.reset()
  81
  82         #### ON-CHIP FILTERING
  83         if(standardid != None):
  84             if( comment == None):
  85                 comment = ""
  86             self.client.MCPreqstatConfiguration();
  87             self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
  88             self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
  89             self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
  90             if(len(standardid)>2):
  91                self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
  92                self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
  93                self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
  94
  95             for filter,ID in enumerate(standardid):
  96
  97                if (filter==0):
  98                 RXFSIDH = 0x00;
  99                 RXFSIDL = 0x01;
 100                elif (filter==1):
 101                 RXFSIDH = 0x04;
 102                 RXFSIDL = 0x05;
 103                elif (filter==2):
 104                 RXFSIDH = 0x08;
 105                 RXFSIDL = 0x09;
 106                elif (filter==3):
 107                 RXFSIDH = 0x10;
 108                 RXFSIDL = 0x11;
 109                elif (filter==4):
 110                 RXFSIDH = 0x14;
 111                 RXFSIDL = 0x15;
 112                else:
 113                 RXFSIDH = 0x18;
 114                 RXFSIDL = 0x19;
 115
 116                #### split SID into different regs
 117                SIDlow = (ID & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 118                SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 119
 120                #write SID to regs
 121                self.client.poke8(RXFSIDH,SIDhigh);
 122                self.client.poke8(RXFSIDL, SIDlow);
 123
 124                if (verbose == True):
 125                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 126                comment += ("f%d" %(ID))
 127
 128
 129         self.client.MCPsetrate(freq);
 130
 131         # This will handle the files so that we do not loose them. each day we will create a new csv file
 132         if( filename==None):
 133             #get folder information (based on today's date)
 134             now = datetime.datetime.now()
 135             datestr = now.strftime("%Y%m%d")
 136             path = self.DATALOCATION+datestr+".csv"
 137             filename = path
 138
 139
 140         outfile = open(filename,'a');
 141         dataWriter = csv.writer(outfile,delimiter=',');
 142         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 143         dataWriter.writerow(['#' + description])
 144
 145         self.client.MCPreqstatNormal();
 146         print "Listening...";
 147         packetcount = 0;
 148         starttime = time.time();
 149
 150         while((time.time()-starttime < duration)):
 151
 152             if(faster):
 153                 packet=self.client.fastrxpacket();
 154             else:
 155                 packet=self.client.rxpacket();
 156
 157             #add the data to list if the pointer was included
 158             if(data != None):
 159                 #data.append(self.client.packet2parsedstr(packet))
 160                 data.put(self.client.packet2parsed(packet))
 161             if(debug == True):
 162                 #check packet status
 163                 MCPstatusReg = self.client.MCPrxstatus();
 164                 messagestat=MCPstatusReg&0xC0;
 165                 messagetype=MCPstatusReg&0x18;
 166                 if(messagestat == 0xC0):
 167                     print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 168                 elif(messagestat == 0x80):
 169                     print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 170                 elif(messagestat == 0x40):
 171                     print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
 172                 elif(messagestat == 0x00):
 173                     print "No messages in buffers."
 174
 175             if packet!=None:
 176
 177                 packetcount+=1;
 178                 row = [];
 179                 row.append("%f"%time.time());
 180
 181                 if( verbose==True):
 182                     #if we want to print a parsed message
 183                     if( parsed == True):
 184                         packetParsed = self.client.packet2parsed(packet)
 185                         sId = packetParsed.get('sID')
 186                         msg = "sID: %04d" %sId
 187                         if( packetParsed.get('eID')):
 188                             msg += " eID: %d" %packetParsed.get('eID')
 189                         msg += " rtr: %d"%packetParsed['rtr']
 190                         length = packetParsed['length']
 191                         msg += " length: %d"%length
 192                         msg += " data:"
 193                         for i in range(0,length):
 194                             dbidx = 'db%d'%i
 195                             msg +=" %03d"% ord(packetParsed[dbidx])
 196                         #msg = self.client.packet2parsedstr(packet)
 197                         print msg
 198                     # if we want to print just the message as it is read off the chip
 199                     else:
 200                         print self.client.packet2str(packet)
 201
 202                 if(debug == True):
 203
 204                     #check overflow
 205                     MCPeflgReg=self.client.peek8(0x2D);
 206                     print"EFLG register equals: %x" %MCPeflgReg;
 207                     if((MCPeflgReg & 0xC0)==0xC0):
 208                         print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
 209                     elif(MCPeflgReg & 0x80):
 210                         print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
 211                     elif(MCPeflgReg & 0x40):
 212                         print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
 213                     self.client.MCPbitmodify(0x2D,0xC0,0x00);
 214                     print"EFLG register set to: %x" % self.client.peek(0x2D);
 215
 216                     #check for errors
 217                     if (self.client.peek8(0x2C) & 0x80):
 218                         self.client.MCPbitmodify(0x2C,0x80,0x00);
 219                         print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
 220                         row.append(1);
 221                     else:
 222                         row.append(0);
 223                 else:
 224                     row.append(0);  #since we don't check for errors if we're not in debug mode...
 225
 226                 row.append(comment)
 227                 #how long the sniff was for
 228                 row.append(duration)
 229                 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
 230                 if(standardid != None):
 231                     row.append(1)
 232                 else:
 233                     row.append(0)
 234                 #write packet to file
 235                 for byte in packet:
 236                     row.append("%02x"%ord(byte));
 237                 dataWriter.writerow(row);
 238
 239         outfile.close()
 240         print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
 241         return packetcount
 242
 243
 244     def filterStdSweep(self, freq, low, high, time = 5):
 245         msgIDs = []
 246         self.client.serInit()
 247         self.client.MCPsetup()
 248         for i in range(low, high+1, 6):
 249             print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
 250             comment= "sweepFilter: "
 251             #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
 252             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)
 253             count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
 254             if( count != 0):
 255                 for j in range(i,i+5):
 256                     comment = "sweepFilter: "
 257                     #comment = "sweepFilter: %d" % (j)
 258                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
 259                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
 260                     if( count != 0):
 261                         msgIDs.append(j)
 262         return msgIDs
 263
 264     def sweepRandom(self, freq, number = 5, time = 200):
 265         msgIDs = []
 266         ids = []
 267         self.client.serInit()
 268         self.client.MCPsetup()
 269         for i in range(0,number+1,6):
 270             idsTemp = []
 271             comment = "sweepFilter: "
 272             for j in range(0,6,1):
 273                 id = randrange(2047)
 274                 #comment += "_%d" % id
 275                 idsTemp.append(id)
 276                 ids.append(id)
 277             print comment
 278             description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
 279             count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
 280             if( count != 0):
 281                 for element in idsTemp:
 282                     #comment = "sweepFilter: %d" % (element)
 283                     comment="sweepFilter: "
 284                     description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
 285                     count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
 286                     if( count != 0):
 287                         msgIDs.append(j)
 288         return msgIDs, ids
 289
 290     def sniffTest(self, freq):
 291
 292         rate = freq;
 293
 294         print "Calling MCPsetrate for %i." %rate;
 295         self.client.MCPsetrate(rate);
 296         self.client.MCPreqstatNormal();
 297
 298         print "Mode: %s" % self.client.MCPcanstatstr();
 299         print "CNF1: %02x" %self.client.peek8(0x2a);
 300         print "CNF2: %02x" %self.client.peek8(0x29);
 301         print "CNF3: %02x\n" %self.client.peek8(0x28);
 302
 303         while(1):
 304             packet=self.client.rxpacket();
 305
 306             if packet!=None:
 307                 if (self.client.peek8(0x2C) & 0x80):
 308                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 309                     print "malformed packet recieved: "+ self.client.packet2str(packet);
 310                 else:
 311                     print "properly formatted packet recieved" + self.client.packet2str(packet);
 312
 313
 314     def freqtest(self,freq):
 315
 316         self.client.MCPsetup();
 317
 318         self.client.MCPsetrate(freq);
 319         self.client.MCPreqstatListenOnly();
 320
 321         print "CAN Freq Test: %3d kHz" %freq;
 322
 323         x = 0;
 324         errors = 0;
 325
 326         starttime = time.time();
 327         while((time.time()-starttime < args.time)):
 328             packet=self.client.rxpacket();
 329             if packet!=None:
 330                 x+=1;
 331
 332                 if (self.client.peek8(0x2C) & 0x80):
 333                     print "malformed packet recieved"
 334                     errors+=1;
 335                     self.client.MCPbitmodify(0x2C,0x80,0x00);
 336                 else:
 337                     print self.client.packet2str(packet);
 338
 339         print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
 340
 341
 342     def isniff(self,freq):
 343         """ An intelligent sniffer, decodes message format """
 344         """ More features to be added soon """
 345
 346         self.client.MCPsetrate(freq);
 347         self.client.MCPreqstatListenOnly();
 348         while 1:
 349             packet=self.client.rxpacket();
 350             if packet!=None:
 351                 plist=[];
 352                 for byte in packet:
 353                     plist.append(byte);
 354                 arbid=plist[0:2];
 355                 eid=plist[2:4];
 356                 dlc=plist[4:5];
 357                 data=plist[5:13];
 358                 print "\nArbID: " + self.client.packet2str(arbid);
 359                 print "EID: " + self.client.packet2str(eid);
 360                 print "DLC: " + self.client.packet2str(dlc);
 361                 print "Data: " + self.client.packet2str(data);
 362
 363     def test(self):
 364
 365         comm.reset();
 366         print "Just reset..."
 367         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 368         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 369         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 370         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 371         self.client.MCPreqstatConfiguration();
 372         self.client.poke8(0x60,0x66);
 373         self.client.MCPsetrate(500);
 374         self.client.MCPreqstatNormal();
 375         print "In normal mode now"
 376         print "EFLG register:  %02x" % self.client.peek8(0x2d);
 377         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 378         print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 379         print "CANINTF: %02x"  %self.client.peek8(0x2C);
 380         print "Waiting on packets.";
 381         checkcount = 0;
 382         packet=None;
 383         while(1):
 384             packet=self.client.rxpacket();
 385             if packet!=None:
 386                 print "Message recieved: %s" % self.client.packet2str(packet);
 387             else:
 388                 checkcount=checkcount+1;
 389                 if (checkcount%30==0):
 390                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 391                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 392                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 393                     print "CANINTF: %02x"  %self.client.peek8(0x2C);
 394
 395
 396
 397
 398     def addFilter(self,standardid, verbose= True):
 399         comment = None
 400         ### ON-CHIP FILTERING
 401         if(standardid != None):
 402             self.client.MCPreqstatConfiguration();
 403             self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
 404             self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
 405             self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
 406             if(len(standardid)>2):
 407                self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
 408                self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
 409                self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
 410
 411             for filter,ID in enumerate(standardid):
 412
 413                if (filter==0):
 414                 RXFSIDH = 0x00;
 415                 RXFSIDL = 0x01;
 416                elif (filter==1):
 417                 RXFSIDH = 0x04;
 418                 RXFSIDL = 0x05;
 419                elif (filter==2):
 420                 RXFSIDH = 0x08;
 421                 RXFSIDL = 0x09;
 422                elif (filter==3):
 423                 RXFSIDH = 0x10;
 424                 RXFSIDL = 0x11;
 425                elif (filter==4):
 426                 RXFSIDH = 0x14;
 427                 RXFSIDL = 0x15;
 428                else:
 429                 RXFSIDH = 0x18;
 430                 RXFSIDL = 0x19;
 431
 432                #### split SID into different regs
 433                SIDlow = (ID & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 434                SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 435
 436                #write SID to regs
 437                self.client.poke8(RXFSIDH,SIDhigh);
 438                self.client.poke8(RXFSIDL, SIDlow);
 439
 440                if (verbose == True):
 441                    print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
 442
 443         self.client.MCPreqstatNormal();
 444
 445
 446     # this will sweep through the given ids to request a packet and then sniff on that
 447     # id for a given amount duration. This will be repeated the number of attempts time
 448
 449     #at the moment this is set to switch to the next id once  a message is identified
 450     def rtrSweep(self,freq,lowID,highID, attempts = 1,duration = 1, verbose = True):
 451         #set up file
 452         now = datetime.datetime.now()
 453         datestr = now.strftime("%Y%m%d")
 454         path = self.DATALOCATION+datestr+"_rtr.csv"
 455         filename = path
 456         outfile = open(filename,'a');
 457         dataWriter = csv.writer(outfile,delimiter=',');
 458         dataWriter.writerow(['# Time     Error        Bytes 1-13']);
 459         dataWriter.writerow(['#' + "rtr sweep from %d to %d"%(lowID,highID)])
 460         print "started"
 461         #self.client.serInit()
 462         #self.spitSetup(freq)
 463         for i in range(lowID,highID+1, 1):
 464             self.client.serInit()
 465             self.spitSetup(freq)
 466             standardid = [i, i, i, i]
 467             #set filters
 468             self.addFilter(standardid, verbose = True)
 469
 470             #### split SID into different areas
 471             SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 472             SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 473             #create RTR packet
 474             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 475             dataWriter.writerow(["#requested id %d"%i])
 476             #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
 477             #clear buffer
 478             packet1 = self.client.rxpacket();
 479             packet2 = self.client.rxpacket();
 480             #send in rtr request
 481             self.client.txpacket(packet)
 482             ## listen for 2 packets. one should be the rtr we requested the other should be
 483             ## a new packet response
 484             starttime = time.time()
 485             while ((time.time() - starttime) < duration):
 486                 packet = self.client.rxpacket()
 487                 if( packet == None):
 488                     continue
 489                 row = []
 490                 row.append("%f"%time.time()) #timestamp
 491                 row.append(0) #error flag (not checkign)
 492                 row.append("rtrRequest_%d"%i) #comment
 493                 row.append(duration) #sniff time
 494                 row.append(1) # filtering boolean
 495                 for byte in packet:
 496                     row.append("%02x"%ord(byte));
 497                 dataWriter.writerow(row)
 498                 print self.client.packet2parsedstr(packet)
 499 #            packet1=self.client.rxpacket();
 500 #            packet2=self.client.rxpacket();
 501 #            if( packet1 != None and packet2 != None):
 502 #                print "packets recieved :\n "
 503 #                print self.client.packet2parsedstr(packet1);
 504 #                print self.client.packet2parsedstr(packet2);
 505 #                continue
 506 #            elif( packet1 != None):
 507 #                print self.client.packet2parsedstr(packet1)
 508 #            elif( packet2 != None):
 509 #                print self.client.packet2parsedstr(packet2)
 510             trial= 2;
 511             # for each trial
 512             while( trial <= attempts):
 513                 print "trial: ", trial
 514                 self.client.MCPrts(TXB0=True);
 515                 starttime = time.time()
 516                 # this time we will sniff for the given amount of time to see if there is a
 517                 # time till the packets come in
 518                 while( (time.time()-starttime) < duration):
 519                     packet=self.client.rxpacket();
 520                     row = []
 521                     row.append("%f"%time.time()) #timestamp
 522                     row.append(0) #error flag (not checking)
 523                     row.append("rtrRequest_%d"%i) #comment
 524                     row.append(duration) #sniff time
 525                     row.append(1) # filtering boolean
 526                     for byte in packet:
 527                         row.append("%02x"%ord(byte));
 528                     dataWriter.writerow(row)
 529                     print self.client.packet2parsedstr(packet)
 530 #                    packet2=self.client.rxpacket();
 531 #
 532 #                    if( packet1 != None and packet2 != None):
 533 #                        print "packets recieved :\n "
 534 #                        print self.client.packet2parsedstr(packet1);
 535 #                        print self.client.packet2parsedstr(packet2);
 536 #                        #break
 537 #                    elif( packet1 != None):
 538 #                        print "just packet1"
 539 #                        print self.client.packet2parsedstr(packet1)
 540 #                    elif( packet2 != None):
 541 #                        print "just packet2"
 542 #                        print self.client.packet2parsedstr(packet2)
 543                 trial += 1
 544         print "sweep complete"
 545         outfile.close()
 546
 547     def spitSetup(self,freq):
 548         self.reset();
 549         self.client.MCPsetrate(freq);
 550         self.client.MCPreqstatNormal();
 551
 552
 553     def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 554         self.spitSetup(freq);
 555         spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
 556
 557     def spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
 558
 559
 560         #### split SID into different regs
 561         SIDlow = (standardid[0] & 0x07) << 5;  # get SID bits 2:0, rotate them to bits 7:5
 562         SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
 563
 564         if(packet == None):
 565
 566             # if no packet, RTR for inputted arbID
 567             # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
 568             packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
 569
 570
 571                 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 572                 #         0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 573                 #        # lower nibble is DLC
 574                 #        0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
 575         else:
 576
 577             # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
 578             #
 579             #    TODO: allow for variable-length packets
 580             #
 581             packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
 582                   0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
 583                   # lower nibble is DLC
 584                  packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
 585
 586
 587         if(debug):
 588             if self.client.MCPcanstat()>>5!=0:
 589                 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
 590             print "\nInitial state:"
 591             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 592             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 593             print "Error Flags:  %02x\n" % self.client.peek8(0x2d);
 594             print "TXB0CTRL: %02x" %self.client.peek8(0x30);
 595             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 596             print "\n\nATTEMPTING TRANSMISSION!!!"
 597
 598
 599         print "Transmitting packet: "
 600         print self.client.packet2str(packet)
 601
 602         self.client.txpacket(packet);
 603
 604         if repeat:
 605             print "\nNow looping on transmit. "
 606             if duration!= None:
 607                 starttime = time.time();
 608                 while((time.time()-starttime < duration)):
 609                     self.client.MCPrts(TXB0=True);
 610                     print "MSG printed"
 611             else:
 612                 while(1):
 613                     self.client.MCPrts(TXB0=True);
 614         print "messages injected"
 615
 616         # MORE DEBUGGING
 617         if(debug):
 618             checkcount = 0;
 619             TXB0CTRL = self.client.peek8(0x30);
 620
 621             print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 622             print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 623             print "EFLG register:  %02x" % self.client.peek8(0x2d);
 624             print "TXB0CTRL: %02x" %TXB0CTRL;
 625             print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 626
 627             while(TXB0CTRL | 0x00 != 0x00):
 628                 checkcount+=1;
 629                 TXB0CTRL = self.client.peek8(0x30);
 630                 if (checkcount %30 ==0):
 631                     print "Tx Errors:  %3d" % self.client.peek8(0x1c);
 632                     print "Rx Errors:  %3d" % self.client.peek8(0x1d);
 633                     print "EFLG register:  %02x" % self.client.peek8(0x2d);
 634                     print "TXB0CTRL: %02x" %TXB0CTRL;
 635                     print "CANINTF: %02x\n"  %self.client.peek8(0x2C);
 636
 637
 638     def setRate(self,freq):
 639         self.client.MCPsetrate(freq);
 640
 641
 642
 643
 644 if __name__ == "__main__":
 645
 646     parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
 647
 648         Run commands on the MCP2515. Valid commands are:
 649
 650             info
 651             test
 652             peek 0x(start) [0x(stop)]
 653             reset
 654
 655             sniff
 656             freqtest
 657             snifftest
 658             spit
 659         ''')
 660
 661
 662     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
 663     parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
 664     parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
 665     parser.add_argument('-o', '--output', default=None,help='Output file');
 666     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
 667     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
 668     parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
 669     parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
 670     parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
 671     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);
 672     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);
 673
 674
 675     args = parser.parse_args();
 676     freq = args.freq
 677     duration = args.time
 678     filename = args.output
 679     description = args.description
 680     verbose = args.verbose
 681     comments = args.comment
 682     debug = args.debug
 683     standardid = args.standardid
 684     faster=args.faster
 685     repeat = args.repeat
 686
 687     comm = GoodFETMCPCANCommunication();
 688
 689     ##########################
 690     #   INFO
 691     ##########################
 692     #
 693     # Prints MCP state info
 694     #
 695     if(args.verb=="info"):
 696         comm.printInfo()
 697
 698
 699     ##########################
 700     #   RESET
 701     ##########################
 702     #
 703     #
 704
 705     if(args.verb=="reset"):
 706         comm.reset()
 707
 708     ##########################
 709     #   SNIFF
 710     ##########################
 711     #
 712     #   runs in ListenOnly mode
 713     #   utility function to pull info off the car's CAN bus
 714     #
 715
 716     if(args.verb=="sniff"):
 717         comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
 718
 719     ##########################
 720     #   SNIFF TEST
 721     ##########################
 722     #
 723     #   runs in NORMAL mode
 724     #   intended for NETWORKED MCP chips to verify proper operation
 725     #
 726
 727     if(args.verb=="snifftest"):
 728         comm.sniffTest(freq=freq)
 729
 730
 731     ##########################
 732     #   FREQ TEST
 733     ##########################
 734     #
 735     #   runs in LISTEN ONLY mode
 736     #   tests bus for desired frequency --> sniffs bus for specified length of time and reports
 737     #   if packets were properly formatted
 738     #
 739     #
 740
 741     if(args.verb=="freqtest"):
 742         comm.freqtest(freq=freq)
 743
 744
 745
 746     ##########################
 747     #   iSniff
 748     ##########################
 749     #
 750     #    """ An intelligent sniffer, decodes message format """
 751     #    """ More features to be added soon """
 752     if(args.verb=="isniff"):
 753         comm.isniff(freq=freq)
 754
 755
 756     ##########################
 757     #   MCP TEST
 758     ##########################
 759     #
 760     #   Runs in LOOPBACK mode
 761     #   self-check diagnostic
 762     #   wasn't working before due to improperly formatted packet
 763     #
 764     #   ...add automatic packet check rather than making user verify successful packet
 765     if(args.verb=="test"):
 766         comm.test()
 767
 768     if(args.verb=="peek"):
 769         start=0x0000;
 770         if(len(sys.argv)>2):
 771             start=int(sys.argv[2],16);
 772         stop=start;
 773         if(len(sys.argv)>3):
 774             stop=int(sys.argv[3],16);
 775         print "Peeking from %04x to %04x." % (start,stop);
 776         while start<=stop:
 777             print "%04x: %02x" % (start,client.peek8(start));
 778             start=start+1;
 779
 780     ##########################
 781     #   SPIT
 782     ##########################
 783     #
 784     #   Basic packet transmission
 785     #   runs in NORMAL MODE!
 786     #
 787     #   checking TX error flags--> currently throwing error flags on every
 788     #   transmission (travis thinks this is because we're sniffing in listen-only
 789     #   and thus not generating an ack bit on the recieving board)
 790     if(args.verb=="spit"):
 791         comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)
 792
 793
 794
 795
 796
 797
 798
 799
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 801
 802
 803