from random import randrange
from GoodFETMCPCAN import GoodFETMCPCAN;
from intelhex import IntelHex;
+import Queue
class GoodFETMCPCANCommunication:
# SNIFF
##########################
- def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False):
+ 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()
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
if (verbose == True):
print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter);
- comment = comment + ("f%d" %(ID))
+ 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
- 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"
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;
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();
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());
if( verbose==True):
- print self.client.packet2str(packet)
+ #if we want to print a parsed message
+ if( parsed == True):
+ packetParsed = self.client.packet2parsed(packet)
+ sId = packetParsed.get('sID')
+ msg = "sID: %04d" %sId
+ if( packetParsed.get('eID')):
+ msg += " eID: %d" %packetParsed.get('eID')
+ msg += " rtr: %d"%packetParsed['rtr']
+ length = packetParsed['length']
+ msg += " length: %d"%length
+ msg += " data:"
+ 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:
+ print self.client.packet2str(packet)
if(debug == True):
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, time = 5):
- msgIDs = []
- for i in range(0, 2047, 6):
- print "sniffing id: %d, %d, %d, %d, %d, %d" % (i,i+1,i+2,i+3,i+4,i+5)
- 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: %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])
- if( count != 0):
- msgIDs.append(j)
- return msgIDs
-
- def sweepRandom(self, freq, time = 5, number):
- msgIDs = []
- ids = []
- 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, filename, standardid = idsTemp)
- if( count != 0):
- for element in idsTemp:
- comment = "sweepFilter: %d" % (element)
- 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):
def freqtest(self,freq):
+
self.client.MCPsetup();
self.client.MCPsetrate(freq);
print "Data: " + self.client.packet2str(data);
def test(self):
- print "\nMCP2515 Self Test:";
- #Switch to config mode and try to rewrite TEC.
+ comm.reset();
+ print "Just reset..."
+ print "EFLG register: %02x" % self.client.peek8(0x2d);
+ print "Tx Errors: %3d" % self.client.peek8(0x1c);
+ print "Rx Errors: %3d" % self.client.peek8(0x1d);
+ print "CANINTF: %02x" %self.client.peek8(0x2C);
self.client.MCPreqstatConfiguration();
- self.client.poke8(0x00,0xde);
- if self.client.peek8(0x00)!=0xde:
- print "ERROR: Poke to TEC failed.";
- else:
- print "SUCCESS: Register read/write.";
-
- #Switch to Loopback mode and try to catch our own packet.
- self.client.MCPreqstatLoopback();
-
- packet1 = [0x00,
- 0x08, # LOWER nibble must be 8 or greater to set EXTENDED ID
- 0x00, 0x00,
- 0x08, # UPPER nibble must be 0 to set RTR bit for DATA FRAME
- # LOWER nibble is DLC
- 0x01,0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0xFF]
- self.client.txpacket(packet1);
- self.client.txpacket(packet1);
- print "Waiting on loopback packets.";
+ self.client.poke8(0x60,0x66);
+ self.client.MCPsetrate(500);
+ self.client.MCPreqstatNormal();
+ print "In normal mode now"
+ print "EFLG register: %02x" % self.client.peek8(0x2d);
+ print "Tx Errors: %3d" % self.client.peek8(0x1c);
+ print "Rx Errors: %3d" % self.client.peek8(0x1d);
+ print "CANINTF: %02x" %self.client.peek8(0x2C);
+ print "Waiting on packets.";
+ checkcount = 0;
packet=None;
while(1):
packet=self.client.rxpacket();
if packet!=None:
print "Message recieved: %s" % self.client.packet2str(packet);
- break;
+ else:
+ checkcount=checkcount+1;
+ if (checkcount%30==0):
+ print "EFLG register: %02x" % self.client.peek8(0x2d);
+ print "Tx Errors: %3d" % self.client.peek8(0x1c);
+ print "Rx Errors: %3d" % self.client.peek8(0x1d);
+ print "CANINTF: %02x" %self.client.peek8(0x2C);
+
+
+
+ def addFilter(self,standardid, verbose= True):
+ comment = None
+ ### 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):
- def spit(self,freq, standardid,debug):
+ 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;
- comm.reset();
+ #### 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):
+ self.reset();
self.client.MCPsetrate(freq);
self.client.MCPreqstatNormal();
- if(debug==True):
- print "\n\nATTEMPTING TRANSMISSION!!!"
- 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);
+ def spitSingle(self,freq, standardid, repeat, duration = None, debug = False, packet = None):
+ self.spitSetup(freq);
+ spit(self,freq, standardid, repeat, duration = None, debug = False, packet = None)
+
+ def spit(self,freq, standardid, repeat,writes, period = None, debug = False, packet = None):
+
+
#### 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
+ if(packet == None):
+
+ # 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]
+
+
+ #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
+ #
+ 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]
+ 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:
+ 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"
- TXB0CTRL = self.client.peek8(0x30);
+ # MORE DEBUGGING
+ if(debug):
+ checkcount = 0;
+ TXB0CTRL = self.client.peek8(0x30);
- 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);
- self.client.MCPbitmodify(0x30,0x08,0x00);
- print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
+ 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 "CANINTF: %02x" %self.client.peek8(0x2C);
- self.client.MCPbitmodify(0x2C,0x80,0x00);
- print "INT Flags modified to: %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):
+ 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]
+ for i in range(4,dlc+4):
+ packet.append(row[i])
+ self.client.txpacket(packet)
+
+
+
+
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
debug = args.debug
standardid = args.standardid
faster=args.faster
+ repeat = args.repeat
comm = GoodFETMCPCANCommunication();
# 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)
projects / goodfet / blobdiff