X-Git-Url: http://git.rot13.org/?a=blobdiff_plain;f=client%2FGoodFETMCPCANCommunication.py;h=f0e6eaff6c7cda062c18446bed58432f16766b25;hb=4a8d380999698852164f09801cdbc8346f5a42e8;hp=09519d279f358e6a92c408dff67872988ae0b736;hpb=a8b686459e73c8a37df4537083a675fc21de4699;p=goodfet diff --git a/client/GoodFETMCPCANCommunication.py b/client/GoodFETMCPCANCommunication.py index 09519d2..f0e6eaf 100644 --- a/client/GoodFETMCPCANCommunication.py +++ b/client/GoodFETMCPCANCommunication.py @@ -3,14 +3,12 @@ # # (C) 2012 Travis Goodspeed # -# -# Ted's working copy -# 1) getting hot reads on frequency -# 2) allow sniffing in "normal" mode to get ack bits -# --check if that's whats causing error flags in board-to-board transmission -# +# Edited By: Chris Hoder 2013 +# Ted Summers 2013 +# Grayson Zulauf 2013 # + import sys; import binascii; import array; @@ -24,15 +22,24 @@ import Queue class GoodFETMCPCANCommunication: - def __init__(self): + def __init__(self, dataLocation = "../../contrib/ThayerData/"): 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 terminal. + It is good for diagnostics. + """ self.client.MCPreqstatConfiguration(); @@ -66,6 +73,9 @@ class GoodFETMCPCANCommunication: print self.client.packet2str(foo); def reset(self): + """ + Reset the chip + """ self.client.MCPsetup(); @@ -73,59 +83,29 @@ class GoodFETMCPCANCommunication: # SNIFF ########################## - def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True, data = None,writeToFile=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, db0 = None, db1 = None): + """ + """ #reset eveything on the chip self.client.serInit() self.reset() - - #### ON-CHIP FILTERING - if(standardid != None): - if( comment == None): - comment = "" - 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); - comment += ("f%d" %(ID)) - + # filtering for specific packets + if(db0 != None and db1 != None and standardid != None): + self.filterForPacket(standardid[0], db0, db1, verbose) + if(comment == None): + comment = "" + comment += ("f%d[%d][%d]" %(standardid[0], db0, db1)) + # filtering for standard ID + elif(standardid != None): + self.addFilter(standardid, verbose) + if(comment == None): + comment = "" + for ID in standardid: + comment += ("f%d" %(ID)) + + 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 @@ -133,7 +113,7 @@ class GoodFETMCPCANCommunication: #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 if( writeToFile == True): @@ -195,7 +175,7 @@ class GoodFETMCPCANCommunication: msg += " data:" for i in range(0,length): dbidx = 'db%d'%i - msg +=" %03d"% ord(packetParsed[dbidx]) + msg +=" %03d"% packetParsed[dbidx] #msg = self.client.packet2parsedstr(packet) print msg # if we want to print just the message as it is read off the chip @@ -291,7 +271,12 @@ class GoodFETMCPCANCommunication: # return msgIDs, ids def sniffTest(self, freq): + """ + This method will preform a test to see if we can sniff corretly formed packets from the CAN bus. + @type freq: number + @param freq: frequency of the CAN bus + """ rate = freq; print "Calling MCPsetrate for %i." %rate; @@ -315,7 +300,13 @@ class GoodFETMCPCANCommunication: def freqtest(self,freq): + """ + This method will test the frequency provided to see if it is the correct frequency for this CAN bus. + @type freq: Number + @param freq: The frequency to listen to the CAN bus. + + """ self.client.MCPsetup(); self.client.MCPsetrate(freq); @@ -364,7 +355,9 @@ 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); @@ -399,7 +392,21 @@ class GoodFETMCPCANCommunication: def addFilter(self,standardid, verbose= True): - comment = None + """ 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 + @todo: rename setFilters + """ + ### ON-CHIP FILTERING if(standardid != None): self.client.MCPreqstatConfiguration(); @@ -439,27 +446,251 @@ class GoodFETMCPCANCommunication: #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 filterForPacket(self, standardid, DB0, DB1, verbose= True): + """ + This method will configure filters on the board to listen for a specific packet originating + from standardid with data bytes 0 and 1. It will configure all six filters, so you will not receive any other packets. + + @type standardid: integer + @param standardid: standardID to listen for + @type DB0: integer + @param standardid: DB0 contents to filter for + @type DB1: integer + @param standardid: DB1 contents to filter for + @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 + + self.client.MCPreqstatConfiguration(); + + # SID filtering: set CTRL registers to only accept standard messages + self.client.poke8(0x60,0x06); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RXM=1, BUKT=1) + self.client.poke8(0x70,0x00); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RXM0=1) + + # Mask buffer 0 to match SID, DB0, DB1 + 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 + self.client.poke8(0x22,0xFF); #set buffer 0 mask 3 (DB0) to FF + self.client.poke8(0x23,0xFF); #set buffer 0 mask 4 (DB0) to FF + + # Mask buffer 1 to match SID, DB0, DB1 + 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 + self.client.poke8(0x26,0xFF); #set buffer 1 mask 3 (DB0) to FF + self.client.poke8(0x27,0xFF); #set buffer 1 mask 4 (DB1) to FF + + # Split SID into high and low bytes + SIDlow = (standardid & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5 + SIDhigh = (standardid >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0 + + + for filter in range(0,5): + if (filter==0): + RXFSIDH = 0x00; + RXFSIDL = 0x01; + RXFDB0 = 0x02; + RXFDB1 = 0x03; + elif (filter==1): + RXFSIDH = 0x04; + RXFSIDL = 0x05; + RXFDB0 = 0x06; + RXFDB1 = 0x07; + elif (filter==2): + RXFSIDH = 0x08; + RXFSIDL = 0x09; + RXFDB0 = 0x0A; + RXFDB1 = 0x0B; + elif (filter==3): + RXFSIDH = 0x10; + RXFSIDL = 0x11; + RXFDB0 = 0x12; + RXFDB1 = 0x13; + elif (filter==4): + RXFSIDH = 0x14; + RXFSIDL = 0x15; + RXFDB0 = 0x16; + RXFDB1 = 0x17; + else: + RXFSIDH = 0x18; + RXFSIDL = 0x19; + RXFDB0 = 0x1A; + RXFDB1 = 0x1B; + + self.client.poke8(RXFSIDH, SIDhigh); + self.client.poke8(RXFSIDL, SIDlow); + self.client.poke8(RXFDB0, DB0); + self.client.poke8(RXFDB1, DB1); + + if (verbose == True): + print "Filtering for SID %d DB0 %d DB1 %d with filter #%d"%(standardid, DB0, DB1, filter); + + self.client.MCPreqstatNormal(); - + def multiPacketTest(self): + + self.reset(); + self.client.MCPsetrate(500); + self.client.MCPreqstatNormal(); + + packet0 = [0x00, 0x00, 0x00,0x00, # pad out EID regs + 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) + # lower nibble is DLC + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00] + + packet1 = [0x00, 0x20, 0x00,0x00, # pad out EID regs + 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) + # lower nibble is DLC + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00] + packet2 = [0x00, 0x40, 0x00,0x00, # pad out EID regs + 0x08, # bit 6 must be set to 0 for data frame (1 for RTR) + # lower nibble is DLC + 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00] + + comm.multiPacketSpit(packet0=packet0, packet1=packet1, packet2=packet2) + + comm.multiPacketSpit(packet0rts=True, packet1rts=True, packet2rts=True) + comm.multiPacketSpit(packet2rts=True) + comm.multiPacketSpit(packet1rts=True) + comm.multiPacketSpit(packet0rts=True) + + + + def multiPacketSpit(self, packet0 = None, packet1 = None, packet2 = None, packet0rts = False, packet1rts = False, packet2rts = False): + """ + This method writes packets to the chip's TX buffers and/or sends the contents of the buffers onto the bus. + + @type packet0: list of integer + @param packet0: A list of 13 integers of the format [SIDhigh SIDlow 0 0 DLC DB0-7] to be loaded into TXBF0 + + @type packet1: list of integer + @param packet1: A list of 13 integers of the format [SIDhigh SIDlow 0 0 DLC DB0-7] to be loaded into TXBF1 + + @type packet2: list of integer + @param packet2: A list of 13 integers of the format [SIDhigh SIDlow 0 0 DLC DB0-7] to be loaded into TXBF2 + + @type packet0rts: Boolean + @param packet0rts: If true the message in TX buffer 0 will be sent + + @type packet2rts: Boolean + @param packet0rts: If true the message in TX buffer 1 will be sent + + @type packet2rts: Boolean + @param packet0rts: If true the message in TX buffer 2 will be sent + + """ + + if(packet0 != None): + self.client.writetxbuffer(packet0,0) + # print("trying to write TX buffer 0"); + # for db in packet0: + # print" %d" %db + if (packet1 != None): + self.client.writetxbuffer(packet1,1) + # print("trying to write TX buffer 1"); + # for db in packet0: + # print" %d" %db + if (packet2 != None): + self.client.writetxbuffer(packet2,2) + # print("trying to write TX buffer 2"); + # for db in packet0: + # print" %d" %db + + # if(packet0rts): + # print("trying to send TX buffer 0") + #if(packet1rts): + # print("trying to send TX buffer 1") + #if(packet2rts): + # print("trying to send TX buffer 2") + + self.client.MCPrts(TXB0=packet0rts, TXB1=packet1rts, TXB2=packet2rts) + 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 spitSingle(self,freq, standardid, repeat, duration = None, debug = False, 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 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. + + @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. + + """ self.spitSetup(freq); - spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None) + 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] & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5 @@ -472,14 +703,11 @@ class GoodFETMCPCANCommunication: packet = [SIDhigh, SIDlow, 0x00,0x00,0x40] - #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 - # 0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF] else: # 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 @@ -498,7 +726,6 @@ class GoodFETMCPCANCommunication: 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) @@ -506,6 +733,7 @@ class GoodFETMCPCANCommunication: 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): @@ -545,7 +773,14 @@ class GoodFETMCPCANCommunication: 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 @@ -558,6 +793,25 @@ class GoodFETMCPCANCommunication: # row[4] = Data Byte 1 # .... up to Data Byte 8 ( THIS ASSUMES A PACKET OF LENGTH 8!!! def writeData(self,packets,freq): + """ + This method will write a list of packets to the bus at the given frequency. This method assumes a packet + length of 8 for all packets as well as a standard id. + + @type packets: List of Lists + @param packets: The list of packets to be injected into the bus. Each element of packets is a list that is + a packet to be injected onto the bus. These packets are assumed to be in the following format:: + 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 + ... + row[10] = Data Byte 7 + + @type freq: number + @param freq: Frequency of the CAN bus + + """ self.client.serInit() self.spitSetup(freq) for row in packets: @@ -569,9 +823,13 @@ class GoodFETMCPCANCommunication: SIDhigh = (sID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0 packet = [SIDhigh,SIDlow,0x00,0x00,0x08] #dlc = row[2] - for i in range(4,dlc+4): + dlc = 8 + for i in range(3,dlc+3): packet.append(row[i]) + print packet self.client.txpacket(packet) + + @@ -595,7 +853,7 @@ if __name__ == "__main__": ''') - parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']); + parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit', 'packet', 'multipacket']); parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]); parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)'); parser.add_argument('-o', '--output', default=None,help='Output file'); @@ -606,6 +864,9 @@ if __name__ == "__main__": 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('-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); + parser.add_argument('-db0', '--databyte0', type=int, default = None, help='-db0 to filter for a specfic data byte'); + parser.add_argument('-db1', '--databyte1', type=int, default = None, help='-db0 to filter for a specfic data byte'); + args = parser.parse_args(); @@ -619,8 +880,15 @@ if __name__ == "__main__": standardid = args.standardid faster=args.faster repeat = args.repeat + db0 = args.databyte0 + db1 = args.databyte1 - comm = GoodFETMCPCANCommunication(); + comm = GoodFETMCPCANCommunication("./"); + + if(args.verb=="packet"): + comm.filterForPacket(standardid=standardid[0], DB0=db0, DB1=db1, verbose= True) + if(args.verb=="multipacket"): + comm.multiPacketTest(); ########################## # INFO @@ -650,7 +918,7 @@ if __name__ == "__main__": # if(args.verb=="sniff"): - comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster) + comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster, db0=db0, db1=db1) ########################## # SNIFF TEST