if flags==0:
print "Warning: Requesting to send no buffer.";
- if self.MCPcanstat()>>5!=0:
- print "Warning: currently in %s mode. NOT in normal mode! May not transmit." %self.MCPcanstatstr();
self.SPItrans([0x80|flags]);
def writetxbuffer(self,packet,packbuf=0):
"""Writes the transmit buffer."""
self.SPItrans([0x40|(packbuf<<1)]+packet);
- #READ BACK BUFFER 0 to check what we're about to send out
- data=self.SPItrans([0x03, 0x31,
- 0x00,0x00, #SID
- 0x00,0x00, #EID
- 0x00, #DLC
- 0x00, 0x00, 0x00, 0x00,
- 0x00, 0x00, 0x00, 0x00
- ]);
- print "about to transmit:" + self.packet2str(data[2:len(data)]);
+
+ def simpleParse(self,packet):
+ dataPt = ord(packet[0]);
+ dataPt2 = ord(packet[1]);
+ # check if we have a standard frame, the msb of the second
+ # nibble will be 1. otherwise it is an extended rame
+ stdCheck = dataPt2 & 0x0f
+ if( stdCheck == 16 ):
+ #arb id is first byte + 3 msb of the 2nd byte
+ dataPt = dataPt<<3 | dataPt2>>5
+ print "Standard Packet \n Arb ID: "+("%d"%dataPt)
+ else:
+ #arb id is first byte + 3 msb + 2 lsb of 2nd byte +
+ # 3rd byte + 4th byte
+ dataPt = dataPt<<3 | dataPt2>>5
+ dataPt = dataPt<<2 | (dataPt2 & 0x03)
+ dataPt = dataPt<<8 | ord(packet[2])
+ dataPt = dataPt<<8 | ord(packet[3])
+ print "Extended Data Frame \n Arb ID: "+("%d"%dataPt)
+ #find the dataLength
+ dataPt5 = packet[4]
+ dataLength = dataPt5 & 0x0e
+ print "Data Length: "+("%d"%dataLength)
+ # Print the data packet
+ print "Data:"
+ # Temporary, until correct packets are read
+ if( dataLength > 8 ):
+ dataLength = 8
+ toprint = self.pcket2str(packet[5:12])
+ print toprint
+ # For reading correct packets
+ # if (dataLength > 8 ):
+ # print "Acceptable Length Exceeded"
+ # Data length value should never exceed 8
+ # else:
+ # toprint = self.pcket2str(packet[5:(5+dataLength)])
+ # print toprint
+
def txpacket(self,packet):
"""Transmits a packet through one of the outbound buffers.
As usual, the packet should begin with SIDH.
For now, only TXB0 is supported."""
self.writetxbuffer(packet,0);
-
- #self.SPItrans([0x81]);
self.MCPrts(TXB0=True);