#
# (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
#
-#
-# 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;
class GoodFETMCPCANCommunication:
- def __init__(self, dataLocation):
+ def __init__(self, dataLocation = "../../contrib/ThayerData/"):
self.client=GoodFETMCPCAN();
- """ Communication with the bus"""
+ """ Communication with the bus"""
self.client.serInit()
self.client.MCPsetup();
#self.DATA_LOCATION = "../../contrib/ThayerData/"
def printInfo(self):
"""
This method will print information about the board to the terminal.
- It is good for diagnostics
+ It is good for diagnostics.
"""
self.client.MCPreqstatConfiguration();
RXFSIDL = 0x19;
RXFDB0 = 0x1A;
RXFDB1 = 0x1B;
-
self.client.poke8(RXFSIDH, SIDhigh);
self.client.poke8(RXFSIDL, SIDlow);
if (verbose == True):
print "Filtering for SID %d DB0 %d DB1 %d with filter #%d"%(standardid, DB0, DB1, filter);
- self.client.MCPreqstatNormal();
-
+ 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):
"""
# 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:
packet.append(row[i])
print packet
self.client.txpacket(packet)
+
+
+ def speedometerHack(self):
+
+ self.client.serInit()
+ self.spitSetup(500)
+
+ self.addFilter([513, 513, 513])
+
+ SIDlow = (513 & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
+ SIDhigh = (513 >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
+
+ while(1):
+
+ packet = None;
+
+ # catch a packet and check its db4 value
+ while (packet == None)
+ packet=self.client.rxpacket();
+
+ print "DB4 = %d" %packet[9]
+ mph = 1.617*packet[9] - 63.5
+ print "Current MPH = 1.617(%d)-63.5 = %d" %(packet[9], mph)
+
+ # calculate our new mph and db4 value
+ mph = mph + 15;
+ packet[9] = ( mph + 63.5 ) / 1.617
+
+ # load new packet into TXB0 and check time
+ self.multiPacketSpit(packet0=packet, packet0rts=True)
+ starttime = time.time()
+
+ # spit new value for 1 second
+ while (time.time()-starttime < 1)
+ self.multiPacketSpit(packet0rts=True)
+
+
+
+[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]]
+
+
+ while((time.time()-starttime < duration)):
+
+ if(faster):
+ packet=self.client.fastrxpacket();
+ else:
+
+
''')
- parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit', 'packet']);
+ 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');
if(args.verb=="packet"):
comm.filterForPacket(standardid=standardid[0], DB0=db0, DB1=db1, verbose= True)
+ if(args.verb=="multipacket"):
+ comm.multiPacketTest();
##########################
# INFO
projects / goodfet / blobdiff