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