2 # GoodFET SPI Flash Client
4 # (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
8 # 1) getting hot reads on frequency
9 # 2) allow sniffing in "normal" mode to get ack bits
10 # --check if that's whats causing error flags in board-to-board transmission
17 import csv, time, argparse;
20 from random import randrange
21 from GoodFETMCPCAN import GoodFETMCPCAN;
22 from intelhex import IntelHex;
25 class GoodFETMCPCANCommunication:
28 self.client=GoodFETMCPCAN();
30 self.client.MCPsetup();
31 self.DATALOCATION = "../../contrib/ThayerData/"
32 self.INJECTDATALOCATION = self.DATALOCATION+"InjectedData/"
38 self.client.MCPreqstatConfiguration();
40 print "MCP2515 Info:\n\n";
42 print "Mode: %s" % self.client.MCPcanstatstr();
43 print "Read Status: %02x" % self.client.MCPreadstatus();
44 print "Rx Status: %02x" % self.client.MCPrxstatus();
45 print "Error Flags: %02x" % self.client.peek8(0x2D);
46 print "Tx Errors: %3d" % self.client.peek8(0x1c);
47 print "Rx Errors: %3d\n" % self.client.peek8(0x1d);
50 print "CNF1: %02x" %self.client.peek8(0x2a);
51 print "CNF2: %02x" %self.client.peek8(0x29);
52 print "CNF3: %02x\n" %self.client.peek8(0x28);
53 print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
54 print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
57 print "RXB0: %02x" %self.client.peek8(0x60);
58 print "RXB1: %02x" %self.client.peek8(0x70);
59 print "RXB0 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x20), self.client.peek8(0x21), self.client.peek8(0x22), self.client.peek8(0x23));
60 print "RXB1 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x24), self.client.peek8(0x25), self.client.peek8(0x26), self.client.peek8(0x27));
64 packet0=self.client.readrxbuffer(0);
65 packet1=self.client.readrxbuffer(1);
66 for foo in [packet0, packet1]:
67 print self.client.packet2str(foo);
70 self.client.MCPsetup();
73 ##########################
75 ##########################
77 def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True, data = None,writeToFile=True):
79 #reset eveything on the chip
83 #### ON-CHIP FILTERING
84 if(standardid != None):
87 self.client.MCPreqstatConfiguration();
88 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
89 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
90 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
91 if(len(standardid)>2):
92 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
93 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
94 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
96 for filter,ID in enumerate(standardid):
117 #### split SID into different regs
118 SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
119 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
122 self.client.poke8(RXFSIDH,SIDhigh);
123 self.client.poke8(RXFSIDL, SIDlow);
125 if (verbose == True):
126 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
127 comment += ("f%d" %(ID))
130 self.client.MCPsetrate(freq);
132 # This will handle the files so that we do not loose them. each day we will create a new csv file
133 if( filename==None and writeToFile == True):
134 #get folder information (based on today's date)
135 now = datetime.datetime.now()
136 datestr = now.strftime("%Y%m%d")
137 path = self.DATALOCATION+datestr+".csv"
140 if( writeToFile == True):
141 outfile = open(filename,'a');
142 dataWriter = csv.writer(outfile,delimiter=',');
143 dataWriter.writerow(['# Time Error Bytes 1-13']);
144 dataWriter.writerow(['#' + description])
146 self.client.MCPreqstatNormal();
147 print "Listening...";
149 starttime = time.time();
151 while((time.time()-starttime < duration)):
154 packet=self.client.fastrxpacket();
156 packet=self.client.rxpacket();
158 #add the data to list if the pointer was included
159 if(data != None and packet != None):
160 #data.append(self.client.packet2parsedstr(packet))
161 packetParsed = self.client.packet2parsed(packet)
162 packetParsed["time"] =time.time()
163 data.put(packetParsed)
166 MCPstatusReg = self.client.MCPrxstatus();
167 messagestat=MCPstatusReg&0xC0;
168 messagetype=MCPstatusReg&0x18;
169 if(messagestat == 0xC0):
170 print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
171 elif(messagestat == 0x80):
172 print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
173 elif(messagestat == 0x40):
174 print "Message in RXB0; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
175 elif(messagestat == 0x00):
176 print "No messages in buffers."
177 #check to see if there was a packet
180 if (packet!=None and writeToFile == True):
183 row.append("%f"%time.time());
186 #if we want to print a parsed message
188 packetParsed = self.client.packet2parsed(packet)
189 sId = packetParsed.get('sID')
190 msg = "sID: %04d" %sId
191 if( packetParsed.get('eID')):
192 msg += " eID: %d" %packetParsed.get('eID')
193 msg += " rtr: %d"%packetParsed['rtr']
194 length = packetParsed['length']
195 msg += " length: %d"%length
197 for i in range(0,length):
199 msg +=" %03d"% ord(packetParsed[dbidx])
200 #msg = self.client.packet2parsedstr(packet)
202 # if we want to print just the message as it is read off the chip
204 print self.client.packet2str(packet)
209 MCPeflgReg=self.client.peek8(0x2D);
210 print"EFLG register equals: %x" %MCPeflgReg;
211 if((MCPeflgReg & 0xC0)==0xC0):
212 print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
213 elif(MCPeflgReg & 0x80):
214 print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
215 elif(MCPeflgReg & 0x40):
216 print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
217 self.client.MCPbitmodify(0x2D,0xC0,0x00);
218 print"EFLG register set to: %x" % self.client.peek(0x2D);
221 if (self.client.peek8(0x2C) & 0x80):
222 self.client.MCPbitmodify(0x2C,0x80,0x00);
223 print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
228 row.append(0); #since we don't check for errors if we're not in debug mode...
231 #how long the sniff was for
233 #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
234 if(standardid != None):
238 #write packet to file
240 row.append("%02x"%ord(byte));
241 dataWriter.writerow(row);
242 if(writeToFile == True):
244 print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
248 # def filterStdSweep(self, freq, low, high, time = 5):
250 # self.client.serInit()
251 # self.client.MCPsetup()
252 # for i in range(low, high+1, 6):
253 # print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
254 # comment= "sweepFilter: "
255 # #comment = "sweepFilter_%d_%d_%d_%d_%d_%d" % (i,i+1,i+2,i+3,i+4,i+5)
256 # 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)
257 # count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [i, i+1, i+2, i+3, i+4, i+5])
259 # for j in range(i,i+5):
260 # comment = "sweepFilter: "
261 # #comment = "sweepFilter: %d" % (j)
262 # description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % j
263 # count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [j, j, j, j])
268 # def sweepRandom(self, freq, number = 5, time = 200):
271 # self.client.serInit()
272 # self.client.MCPsetup()
273 # for i in range(0,number+1,6):
275 # comment = "sweepFilter: "
276 # for j in range(0,6,1):
277 # id = randrange(2047)
278 # #comment += "_%d" % id
282 # description = "Running a sweep filer for all the possible standard IDs. This runs the following : " + comment
283 # count = self.sniff(freq=freq, duration=time, description=description, comment = comment, standardid = idsTemp)
285 # for element in idsTemp:
286 # #comment = "sweepFilter: %d" % (element)
287 # comment="sweepFilter: "
288 # description = "Running a sweep filer for all the possible standard IDs. This run filters for: %d " % element
289 # count = self.sniff(freq=freq, duration = time, description = description,comment = comment, standardid = [element, element, element])
294 def sniffTest(self, freq):
298 print "Calling MCPsetrate for %i." %rate;
299 self.client.MCPsetrate(rate);
300 self.client.MCPreqstatNormal();
302 print "Mode: %s" % self.client.MCPcanstatstr();
303 print "CNF1: %02x" %self.client.peek8(0x2a);
304 print "CNF2: %02x" %self.client.peek8(0x29);
305 print "CNF3: %02x\n" %self.client.peek8(0x28);
308 packet=self.client.rxpacket();
311 if (self.client.peek8(0x2C) & 0x80):
312 self.client.MCPbitmodify(0x2C,0x80,0x00);
313 print "malformed packet recieved: "+ self.client.packet2str(packet);
315 print "properly formatted packet recieved" + self.client.packet2str(packet);
318 def freqtest(self,freq):
320 self.client.MCPsetup();
322 self.client.MCPsetrate(freq);
323 self.client.MCPreqstatListenOnly();
325 print "CAN Freq Test: %3d kHz" %freq;
330 starttime = time.time();
331 while((time.time()-starttime < args.time)):
332 packet=self.client.rxpacket();
336 if (self.client.peek8(0x2C) & 0x80):
337 print "malformed packet recieved"
339 self.client.MCPbitmodify(0x2C,0x80,0x00);
341 print self.client.packet2str(packet);
343 print "Results for %3.1d kHz: recieved %3d packets, registered %3d RX errors." %(freq, x, errors);
346 def isniff(self,freq):
347 """ An intelligent sniffer, decodes message format """
348 """ More features to be added soon """
350 self.client.MCPsetrate(freq);
351 self.client.MCPreqstatListenOnly();
353 packet=self.client.rxpacket();
362 print "\nArbID: " + self.client.packet2str(arbid);
363 print "EID: " + self.client.packet2str(eid);
364 print "DLC: " + self.client.packet2str(dlc);
365 print "Data: " + self.client.packet2str(data);
370 print "Just reset..."
371 print "EFLG register: %02x" % self.client.peek8(0x2d);
372 print "Tx Errors: %3d" % self.client.peek8(0x1c);
373 print "Rx Errors: %3d" % self.client.peek8(0x1d);
374 print "CANINTF: %02x" %self.client.peek8(0x2C);
375 self.client.MCPreqstatConfiguration();
376 self.client.poke8(0x60,0x66);
377 self.client.MCPsetrate(500);
378 self.client.MCPreqstatNormal();
379 print "In normal mode now"
380 print "EFLG register: %02x" % self.client.peek8(0x2d);
381 print "Tx Errors: %3d" % self.client.peek8(0x1c);
382 print "Rx Errors: %3d" % self.client.peek8(0x1d);
383 print "CANINTF: %02x" %self.client.peek8(0x2C);
384 print "Waiting on packets.";
388 packet=self.client.rxpacket();
390 print "Message recieved: %s" % self.client.packet2str(packet);
392 checkcount=checkcount+1;
393 if (checkcount%30==0):
394 print "EFLG register: %02x" % self.client.peek8(0x2d);
395 print "Tx Errors: %3d" % self.client.peek8(0x1c);
396 print "Rx Errors: %3d" % self.client.peek8(0x1d);
397 print "CANINTF: %02x" %self.client.peek8(0x2C);
402 def addFilter(self,standardid, verbose= True):
404 ### ON-CHIP FILTERING
405 if(standardid != None):
406 self.client.MCPreqstatConfiguration();
407 self.client.poke8(0x60,0x26); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1, BUKT=1)
408 self.client.poke8(0x20,0xFF); #set buffer 0 mask 1 (SID 10:3) to FF
409 self.client.poke8(0x21,0xE0); #set buffer 0 mask 2 bits 7:5 (SID 2:0) to 1s
410 if(len(standardid)>2):
411 self.client.poke8(0x70,0x20); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RMX0=1)
412 self.client.poke8(0x24,0xFF); #set buffer 1 mask 1 (SID 10:3) to FF
413 self.client.poke8(0x25,0xE0); #set buffer 1 mask 2 bits 7:5 (SID 2:0) to 1s
415 for filter,ID in enumerate(standardid):
436 #### split SID into different regs
437 SIDlow = (ID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
438 SIDhigh = (ID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
441 self.client.poke8(RXFSIDH,SIDhigh);
442 self.client.poke8(RXFSIDL, SIDlow);
444 if (verbose == True):
445 print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
447 self.client.MCPreqstatNormal();
452 def spitSetup(self,freq):
454 self.client.MCPsetrate(freq);
455 self.client.MCPreqstatNormal();
458 def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
459 self.spitSetup(freq);
460 spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
462 def spit(self,freq, standardid, repeat,writes, period = None, debug = False, packet = None):
465 #### split SID into different regs
466 SIDlow = (standardid[0] & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
467 SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
471 # if no packet, RTR for inputted arbID
472 # so packet to transmit is SID + padding out EID registers + RTR request (set bit 6, clear lower nibble of DLC register)
473 packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
476 #packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
477 # 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
478 # # lower nibble is DLC
479 # 0x00,0x01,0x02,0x03,0x04,0x05,0x06,0xFF]
482 # if we do have a packet, packet is SID + padding out EID registers + DLC of 8 + packet
484 # TODO: allow for variable-length packets
486 packet = [SIDhigh, SIDlow, 0x00,0x00, # pad out EID regs
487 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
488 # lower nibble is DLC
489 packet[0],packet[1],packet[2],packet[3],packet[4],packet[5],packet[6],packet[7]]
493 if self.client.MCPcanstat()>>5!=0:
494 print "Warning: currently in %s mode. NOT in normal mode! May not transmit.\n" %self.client.MCPcanstatstr();
495 print "\nInitial state:"
496 print "Tx Errors: %3d" % self.client.peek8(0x1c);
497 print "Rx Errors: %3d" % self.client.peek8(0x1d);
498 print "Error Flags: %02x\n" % self.client.peek8(0x2d);
499 print "TXB0CTRL: %02x" %self.client.peek8(0x30);
500 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
501 print "\n\nATTEMPTING TRANSMISSION!!!"
504 print "Transmitting packet: "
505 #print self.client.packet2str(packet)
507 self.client.txpacket(packet);
510 print "\nNow looping on transmit. "
512 for i in range(0,writes):
513 self.client.MCPrts(TXB0=True);
515 time.sleep(period/1000) # pause for period ms before sending again
516 #print time.time()-tic
517 #starttime = time.time();
518 #while((time.time()-starttime < duration)):
519 # self.client.MCPrts(TXB0=True);
520 # print "MSG printed"
522 for i in range(0,writes):
523 self.client.MCPrts(TXB0=True);
524 print "messages injected"
529 TXB0CTRL = self.client.peek8(0x30);
531 print "Tx Errors: %3d" % self.client.peek8(0x1c);
532 print "Rx Errors: %3d" % self.client.peek8(0x1d);
533 print "EFLG register: %02x" % self.client.peek8(0x2d);
534 print "TXB0CTRL: %02x" %TXB0CTRL;
535 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
537 while(TXB0CTRL | 0x00 != 0x00):
539 TXB0CTRL = self.client.peek8(0x30);
540 if (checkcount %30 ==0):
541 print "Tx Errors: %3d" % self.client.peek8(0x1c);
542 print "Rx Errors: %3d" % self.client.peek8(0x1d);
543 print "EFLG register: %02x" % self.client.peek8(0x2d);
544 print "TXB0CTRL: %02x" %TXB0CTRL;
545 print "CANINTF: %02x\n" %self.client.peek8(0x2C);
548 def setRate(self,freq):
549 self.client.MCPsetrate(freq);
552 # This will write the data provided in the packets which is expected to be a list of lists
553 # of the following form:
554 # for a given row = packets[i]
555 # row[0] time delay relative to the last packet. if 0 or empty there will be no delay
556 # row[1] = Standard ID (integer)
557 # row[2] = Data Length (0-8) (if it is zero we assume an Remote Transmit Request)
558 # row[3] = Data Byte 0
559 # row[4] = Data Byte 1
560 # .... up to Data Byte 8 ( THIS ASSUMES A PACKET OF LENGTH 8!!!
561 def writeData(self,packets,freq):
562 self.client.serInit()
565 if( row[0] != 0 and row[0] != ""):
568 #### split SID into different regs
569 SIDlow = (sID & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
570 SIDhigh = (sID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
571 packet = [SIDhigh,SIDlow,0x00,0x00,0x08]
574 for i in range(3,dlc+3):
575 packet.append(row[i])
577 self.client.txpacket(packet)
583 if __name__ == "__main__":
585 parser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter,description='''\
587 Run commands on the MCP2515. Valid commands are:
591 peek 0x(start) [0x(stop)]
601 parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
602 parser.add_argument('-f', '--freq', type=int, default=500, help='The desired frequency (kHz)', choices=[100, 125, 250, 500, 1000]);
603 parser.add_argument('-t','--time', type=int, default=15, help='The duration to run the command (s)');
604 parser.add_argument('-o', '--output', default=None,help='Output file');
605 parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
606 parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
607 parser.add_argument('-c','--comment', help='Comment attached to ech packet uploaded',default=None);
608 parser.add_argument('-b', '--debug', action='store_true', help='-b will turn on debug mode, printing packet status', default=False);
609 parser.add_argument('-a', '--standardid', type=int, action='append', help='Standard ID to accept with filter 0 [1, 2, 3, 4, 5]', default=None);
610 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);
611 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);
614 args = parser.parse_args();
617 filename = args.output
618 description = args.description
619 verbose = args.verbose
620 comments = args.comment
622 standardid = args.standardid
626 comm = GoodFETMCPCANCommunication();
628 ##########################
630 ##########################
632 # Prints MCP state info
634 if(args.verb=="info"):
638 ##########################
640 ##########################
644 if(args.verb=="reset"):
647 ##########################
649 ##########################
651 # runs in ListenOnly mode
652 # utility function to pull info off the car's CAN bus
655 if(args.verb=="sniff"):
656 comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
658 ##########################
660 ##########################
662 # runs in NORMAL mode
663 # intended for NETWORKED MCP chips to verify proper operation
666 if(args.verb=="snifftest"):
667 comm.sniffTest(freq=freq)
670 ##########################
672 ##########################
674 # runs in LISTEN ONLY mode
675 # tests bus for desired frequency --> sniffs bus for specified length of time and reports
676 # if packets were properly formatted
680 if(args.verb=="freqtest"):
681 comm.freqtest(freq=freq)
685 ##########################
687 ##########################
689 # """ An intelligent sniffer, decodes message format """
690 # """ More features to be added soon """
691 if(args.verb=="isniff"):
692 comm.isniff(freq=freq)
695 ##########################
697 ##########################
699 # Runs in LOOPBACK mode
700 # self-check diagnostic
701 # wasn't working before due to improperly formatted packet
703 # ...add automatic packet check rather than making user verify successful packet
704 if(args.verb=="test"):
707 if(args.verb=="peek"):
710 start=int(sys.argv[2],16);
713 stop=int(sys.argv[3],16);
714 print "Peeking from %04x to %04x." % (start,stop);
716 print "%04x: %02x" % (start,client.peek8(start));
719 ##########################
721 ##########################
723 # Basic packet transmission
724 # runs in NORMAL MODE!
726 # checking TX error flags--> currently throwing error flags on every
727 # transmission (travis thinks this is because we're sniffing in listen-only
728 # and thus not generating an ack bit on the recieving board)
729 if(args.verb=="spit"):
730 comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)