X-Git-Url: http://git.rot13.org/?a=blobdiff_plain;f=client%2FGoodFETMCPCANCommunication.py;h=4e09e9c7704183677fe227f0a86943886d5ae506;hb=3729ecb467682501032a22be916ae41a1ce23ae5;hp=41a8cce0667c2a738db0ab6be7dfe5a9478b8666;hpb=c1945b6830167f16f8e37b55cab3935283d7d2cc;p=goodfet diff --git a/client/GoodFETMCPCANCommunication.py b/client/GoodFETMCPCANCommunication.py index 41a8cce..4e09e9c 100644 --- a/client/GoodFETMCPCANCommunication.py +++ b/client/GoodFETMCPCANCommunication.py @@ -20,19 +20,22 @@ import os from random import randrange from GoodFETMCPCAN import GoodFETMCPCAN; from intelhex import IntelHex; +import Queue class GoodFETMCPCANCommunication: - def __init__(self): - self.client=GoodFETMCPCAN(); + def __init__(self, dataLocation): + self.client=GoodFETMCPCAN(); """ Communication with the bus""" self.client.serInit() self.client.MCPsetup(); - self.DATALOCATION = "../../contrib/ThayerData/" + #self.DATA_LOCATION = "../../contrib/ThayerData/" + self.DATA_LOCATION = dataLocation; """ Stores file data location. This is the root folder where basic sniffs will be stored""" + self.INJECT_DATA_LOCATION = self.DATA_LOCATION+"InjectedData/" """ stores the sub folder path where injected data will be stored""" def printInfo(self): - + """ This method will print information about the board to the termina. It is usefull for diagnostics""" self.client.MCPreqstatConfiguration(); print "MCP2515 Info:\n\n"; @@ -65,6 +68,9 @@ class GoodFETMCPCANCommunication: print self.client.packet2str(foo); def reset(self): + """ + Reset the chip + """ self.client.MCPsetup(); @@ -72,8 +78,10 @@ class GoodFETMCPCANCommunication: # SNIFF ########################## - def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True): + def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True, data = None,writeToFile=True): + """ + """ #reset eveything on the chip self.client.serInit() self.reset() @@ -113,7 +121,7 @@ class GoodFETMCPCANCommunication: RXFSIDL = 0x19; #### split SID into different regs - SIDlow = (ID & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5 + SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0 #write SID to regs @@ -128,19 +136,19 @@ class GoodFETMCPCANCommunication: self.client.MCPsetrate(freq); # This will handle the files so that we do not loose them. each day we will create a new csv file - if( filename==None): + if( filename==None and writeToFile == True): #get folder information (based on today's date) now = datetime.datetime.now() datestr = now.strftime("%Y%m%d") - path = self.DATALOCATION+datestr+".csv" + path = self.DATA_LOCATION+datestr+".csv" filename = path - - outfile = open(filename,'a'); - dataWriter = csv.writer(outfile,delimiter=','); - dataWriter.writerow(['# Time Error Bytes 1-13']); - dataWriter.writerow(['#' + description]) - + if( writeToFile == True): + outfile = open(filename,'a'); + dataWriter = csv.writer(outfile,delimiter=','); + dataWriter.writerow(['# Time Error Bytes 1-13']); + dataWriter.writerow(['#' + description]) + self.client.MCPreqstatNormal(); print "Listening..."; packetcount = 0; @@ -152,7 +160,13 @@ class GoodFETMCPCANCommunication: packet=self.client.fastrxpacket(); else: packet=self.client.rxpacket(); - + + #add the data to list if the pointer was included + if(data != None and packet != None): + #data.append(self.client.packet2parsedstr(packet)) + packetParsed = self.client.packet2parsed(packet) + packetParsed["time"] =time.time() + data.put(packetParsed) if(debug == True): #check packet status MCPstatusReg = self.client.MCPrxstatus(); @@ -166,10 +180,11 @@ class GoodFETMCPCANCommunication: print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype elif(messagestat == 0x00): print "No messages in buffers." - - if packet!=None: - + #check to see if there was a packet + if( packet != None): packetcount+=1; + if (packet!=None and writeToFile == True): + row = []; row.append("%f"%time.time()); @@ -188,6 +203,7 @@ class GoodFETMCPCANCommunication: for i in range(0,length): dbidx = 'db%d'%i msg +=" %03d"% ord(packetParsed[dbidx]) + #msg = self.client.packet2parsedstr(packet) print msg # if we want to print just the message as it is read off the chip else: @@ -229,57 +245,57 @@ class GoodFETMCPCANCommunication: for byte in packet: row.append("%02x"%ord(byte)); dataWriter.writerow(row); - - outfile.close() + if(writeToFile == True): + outfile.close() print "Listened for %d seconds, captured %d packets." %(duration,packetcount); return packetcount - def filterStdSweep(self, freq, low, high, time = 5): - msgIDs = [] - self.client.serInit() - self.client.MCPsetup() - for i in range(low, high, 6): - print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5) - comment= "sweepFilter: " - #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5) - 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) - count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5]) - if( count != 0): - for j in range(i,i+5): - comment = "sweepFilter: " - #comment = "sweepFilter: %d" % (j) - description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j - count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j]) - if( count != 0): - msgIDs.append(j) - return msgIDs - - def sweepRandom(self, freq, number = 5, time = 200): - msgIDs = [] - ids = [] - self.client.serInit() - self.client.MCPsetup() - for i in range(0,number,6): - idsTemp = [] - comment = "sweepFilter: " - for j in range(0,6,1): - id = randrange(2047) - #comment += "_%d" % id - idsTemp.append(id) - ids.append(id) - print comment - description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment - count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp) - if( count != 0): - for element in idsTemp: - #comment = "sweepFilter: %d" % (element) - comment="sweepFilter: " - description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element - count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element]) - if( count != 0): - msgIDs.append(j) - return msgIDs, ids +# def filterStdSweep(self, freq, low, high, time = 5): +# msgIDs = [] +# self.client.serInit() +# self.client.MCPsetup() +# for i in range(low, high+1, 6): +# print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5) +# comment= "sweepFilter: " +# #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5) +# 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) +# count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5]) +# if( count != 0): +# for j in range(i,i+5): +# comment = "sweepFilter: " +# #comment = "sweepFilter: %d" % (j) +# description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j +# count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j]) +# if( count != 0): +# msgIDs.append(j) +# return msgIDs + +# def sweepRandom(self, freq, number = 5, time = 200): +# msgIDs = [] +# ids = [] +# self.client.serInit() +# self.client.MCPsetup() +# for i in range(0,number+1,6): +# idsTemp = [] +# comment = "sweepFilter: " +# for j in range(0,6,1): +# id = randrange(2047) +# #comment += "_%d" % id +# idsTemp.append(id) +# ids.append(id) +# print comment +# description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment +# count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp) +# if( count != 0): +# for element in idsTemp: +# #comment = "sweepFilter: %d" % (element) +# comment="sweepFilter: " +# description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element +# count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element]) +# if( count != 0): +# msgIDs.append(j) +# return msgIDs, ids def sniffTest(self, freq): @@ -355,7 +371,9 @@ class GoodFETMCPCANCommunication: print "Data: " + self.client.packet2str(data); def test(self): - + """ This will perform a test on the GOODTHOPTER10. Diagnostic messages will be printed + out to the terminal + """ comm.reset(); print "Just reset..." print "EFLG register: %02x" % self.client.peek8(0x2d); @@ -387,73 +405,268 @@ class GoodFETMCPCANCommunication: print "CANINTF: %02x" %self.client.peek8(0x2C); + + + def addFilter(self,standardid, verbose= True): + """ This method will configure filters on the board. Filters are positive filters meaning that they will only + store messages that match the ids provided in the list of standardid. Since there are 2 buffers and due to the configuration + of how the filtering works (see MCP2515 documentation), at least 3 filters must be set to guarentee you do not get any + unwanted messages. However even with only 1 filter set you should get all messages from that ID but the other buffer will store + any additional messages. + @type standardid: list of integers + @param standardid: List of standard ids that need to be set. There can be at most 6 filters set. + @type verbose: Boolean + @param verbose: If true it will print out messages and diagnostics to terminal. + + @rtype: None + @return: This method does not return anything + """ + + ### ON-CHIP FILTERING + if(standardid != None): + self.client.MCPreqstatConfiguration(); + self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1) + self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF + self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s + if(len(standardid)>2): + self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1) + self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF + self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s + + for filter,ID in enumerate(standardid): + + if (filter==0): + RXFSIDH = 0x00; + RXFSIDL = 0x01; + elif (filter==1): + RXFSIDH = 0x04; + RXFSIDL = 0x05; + elif (filter==2): + RXFSIDH = 0x08; + RXFSIDL = 0x09; + elif (filter==3): + RXFSIDH = 0x10; + RXFSIDL = 0x11; + elif (filter==4): + RXFSIDH = 0x14; + RXFSIDL = 0x15; + else: + RXFSIDH = 0x18; + RXFSIDL = 0x19; + + #### split SID into different regs + SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5 + SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0 + + #write SID to regs + self.client.poke8(RXFSIDH,SIDhigh); + self.client.poke8(RXFSIDL, SIDlow); + + if (verbose == True): + print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter); + + self.client.MCPreqstatNormal(); + + + def spitSetup(self,freq): + """ + This method sets up the chip for transmitting messages, but does not transmit anything itself. + """ self.reset(); self.client.MCPsetrate(freq); self.client.MCPreqstatNormal(); - def spit(self,freq, standardid,debug, packet = None): + + def spitSingle(self,freq, standardid, repeat,writes, period = None, debug = False, packet = None): + """ + This method will spit a single message onto the bus. If there is no packet information provided then the + message will be sent as a remote transmission request (RTR). The packet length is assumed to be 8 bytes The message can be repeated a given number of times with + a gap of period (milliseconds) between each message. This will continue for the the number of times specified in the writes input. + This method will setup the bus and call the spit method, L{spit}. This method includes a bus reset and initialization. - #comm.reset(); - #self.client.MCPsetrate(freq); - #self.client.MCPreqstatNormal(); + @type freq: number + @param freq: The frequency of the bus - print "initial state:" - print "Tx Errors: %3d" % self.client.peek8(0x1c); - print "Rx Errors: %3d" % self.client.peek8(0x1d); - print "Error Flags: %02x\n" % self.client.peek8(0x2d); - print "TXB0CTRL: %02x" %self.client.peek8(0x30); - print "CANINTF: %02x\n" %self.client.peek8(0x2C); - print "\n\nATTEMPTING TRANSMISSION!!!" + @type standardid: list of integer + @param standardid: This is a single length list with one integer elment that corresponds to the standard id you wish to write to + + @type repeat: Boolean + @param repeat: If true the message will be repeatedly injected. if not the message will only be injected 1 time + + @type writes: Integer + @param writes: Number of writes of the packet + + @type period: Integer + @param period: Time delay between injections of the packet in Milliseconds + + @type debug: Boolean + @param debug: When true debug status messages will be printed to the terminal + + @type packet: List + @param packet: Contains the data bytes for the packet which is assumed to be of length 8. Each byte is stored as + an integer and can range from 0 to 255 (8 bits). If packet == None then an RTR will be sent on the given + standard id. + + """ + self.spitSetup(freq); + spit(self,freq, standardid, repeat,writes, period, debug , packet) + + def spit(self,freq, standardid, repeat,writes, period = None, debug = False, packet = None): + """ + This method will spit a single message onto the bus. If there is no packet information provided then the + message will be sent as a remote transmission request (RTR). The packet length is assumed to be 8 bytes The message can be repeated a given number of times with + a gap of period (milliseconds) between each message. This will continue for the the number of times specified in the writes input. + This method does not include bus setup, it must be done before the method call. + + + @type freq: number + @param freq: The frequency of the bus + + @type standardid: list of integer + @param standardid: This is a single length list with one integer elment that corresponds to the standard id you wish to write to + + @type repeat: Boolean + @param repeat: If true the message will be repeatedly injected. if not the message will only be injected 1 time + + @type writes: Integer + @param writes: Number of writes of the packet + + @type period: Integer + @param period: Time delay between injections of the packet in Milliseconds + + @type debug: Boolean + @param debug: When true debug status messages will be printed to the terminal + + @type packet: List + @param packet: Contains the data bytes for the packet which is assumed to be of length 8. Each byte is stored as + an integer and can range from 0 to 255 (8 bits). If packet == None then an RTR will be sent on the given + standard id. + + """ - #### split SID into different regs - SIDlow = (standardid[0] & 0x03) << 5; # get SID bits 2:0, rotate them to bits 7:5 + SIDlow = (standardid[0] & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0 - #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs - # 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) - # # lower nibble is DLC - # 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF] - if(packet == None): - packetE = [SIDhigh, SIDlow | 0x80, 0x00,0x00, # pad out EID regs - 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) - # lower nibble is DLC - 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF] + + # if no packet, RTR for inputted arbID + # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register) + packet = [SIDhigh, SIDlow, 0x00,0x00,0x40] + + else: - #packetE = [SIDhigh, SIDlow | 0x80, 0x00,0x00, # pad out EID regs - # 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) - # # lower nibble is DLC - # packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]] + + # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet + # + """@todo: allow for variable-length packets""" + # TODO: allow for variable-length packets + # packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) # lower nibble is DLC packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]] + + if(debug): + if self.client.MCPcanstat()>>5!=0: + print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr(); + print "\nInitial state:" + print "Tx Errors: %3d" % self.client.peek8(0x1c); + print "Rx Errors: %3d" % self.client.peek8(0x1d); + print "Error Flags: %02x\n" % self.client.peek8(0x2d); + print "TXB0CTRL: %02x" %self.client.peek8(0x30); + print "CANINTF: %02x\n" %self.client.peek8(0x2C); + print "\n\nATTEMPTING TRANSMISSION!!!" + + print "Transmitting packet: " + #print self.client.packet2str(packet) + self.client.txpacket(packet); + + if repeat: + """@todo: the repeat variable is no longer needed and can be removed """ + print "\nNow looping on transmit. " + if period != None: + for i in range(0,writes): + self.client.MCPrts(TXB0=True); + #tic = time.time() + time.sleep(period/1000) # pause for period ms before sending again + #print time.time()-tic + #starttime = time.time(); + #while((time.time()-starttime < duration)): + # self.client.MCPrts(TXB0=True); + # print "MSG printed" + else: + for i in range(0,writes): + self.client.MCPrts(TXB0=True); + print "messages injected" - checkcount = 0; - TXB0CTRL = self.client.peek8(0x30); - - while(TXB0CTRL | 0x00 != 0x00): - checkcount+=1; + # MORE DEBUGGING + if(debug): + checkcount = 0; TXB0CTRL = self.client.peek8(0x30); - if (checkcount %30 ==0): - print "Tx Errors: %3d" % self.client.peek8(0x1c); - print "Rx Errors: %3d" % self.client.peek8(0x1d); - print "EFLG register: %02x" % self.client.peek8(0x2d); - print "TXB0CTRL: %02x" %TXB0CTRL; - print "CANINTF: %02x\n" %self.client.peek8(0x2C); + + print "Tx Errors: %3d" % self.client.peek8(0x1c); + print "Rx Errors: %3d" % self.client.peek8(0x1d); + print "EFLG register: %02x" % self.client.peek8(0x2d); + print "TXB0CTRL: %02x" %TXB0CTRL; + print "CANINTF: %02x\n" %self.client.peek8(0x2C); + + while(TXB0CTRL | 0x00 != 0x00): + checkcount+=1; + TXB0CTRL = self.client.peek8(0x30); + if (checkcount %30 ==0): + print "Tx Errors: %3d" % self.client.peek8(0x1c); + print "Rx Errors: %3d" % self.client.peek8(0x1d); + print "EFLG register: %02x" % self.client.peek8(0x2d); + print "TXB0CTRL: %02x" %TXB0CTRL; + print "CANINTF: %02x\n" %self.client.peek8(0x2C); def setRate(self,freq): + """ + This method will reset the frequency that the MCP2515 expects the CAN bus to be on. + + @type freq: Number + @param freq: Frequency of the CAN bus + """ self.client.MCPsetrate(freq); - + # This will write the data provided in the packets which is expected to be a list of lists + # of the following form: + # for a given row = packets[i] + # row[0] time delay relative to the last packet. if 0 or empty there will be no delay + # row[1] = Standard ID (integer) + # row[2] = Data Length (0-8) (if it is zero we assume an Remote Transmit Request) + # row[3] = Data Byte 0 + # row[4] = Data Byte 1 + # .... up to Data Byte 8 ( THIS ASSUMES A PACKET OF LENGTH 8!!! + def writeData(self,packets,freq): + self.client.serInit() + self.spitSetup(freq) + for row in packets: + if( row[0] != 0 and row[0] != ""): + time.sleep(row[0]) + sID = row[1] + #### split SID into different regs + SIDlow = (sID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5 + SIDhigh = (sID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0 + packet = [SIDhigh,SIDlow,0x00,0x00,0x08] + #dlc = row[2] + dlc = 8 + for i in range(3,dlc+3): + packet.append(row[i]) + print packet + self.client.txpacket(packet) + + + + if __name__ == "__main__": @@ -482,8 +695,9 @@ if __name__ == "__main__": parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None); parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False); parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None); - 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); - + 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); + 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); + args = parser.parse_args(); freq = args.freq @@ -495,6 +709,7 @@ if __name__ == "__main__": debug = args.debug standardid = args.standardid faster=args.faster + repeat = args.repeat comm = GoodFETMCPCANCommunication(); @@ -600,7 +815,7 @@ if __name__ == "__main__": # transmission (travis thinks this is because we're sniffing in listen-only # and thus not generating an ack bit on the recieving board) if(args.verb=="spit"): - comm.spit(freq=freq, standardid=standardid, debug=debug) + comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)