from random import randrange
from GoodFETMCPCAN import GoodFETMCPCAN;
from intelhex import IntelHex;
+import Queue
class GoodFETMCPCANCommunication:
- def __init__(self):
- self.client=GoodFETMCPCAN();
+ def __init__(self, dataLocation):
+ 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 termina. It is usefull for diagnostics"""
self.client.MCPreqstatConfiguration();
print "MCP2515 Info:\n\n";
print self.client.packet2str(foo);
def reset(self):
+ """
+ Reset the chip
+ """
self.client.MCPsetup();
# SNIFF
##########################
- def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=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):
+ """
+ """
#reset eveything on the chip
self.client.serInit()
self.reset()
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"
+ path = self.DATA_LOCATION+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());
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:
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, low, high, time = 5):
- msgIDs = []
- self.client.serInit()
- self.client.MCPsetup()
- for i in range(low, high, 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,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 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):
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);
print "CANINTF: %02x" %self.client.peek8(0x2C);
+
+
+ def addFilter(self,standardid, verbose= True):
+ """ 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
+ """
+
+ ### 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):
+
+ 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);
+
+ self.client.MCPreqstatNormal();
+
+
+
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 spit(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 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 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,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
SIDhigh = (standardid[0] >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
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
print "Transmitting packet: "
- for byte in packet:
- print "%02x " %byte,
+ #print self.client.packet2str(packet)
self.client.txpacket(packet);
if repeat:
+ """@todo: the repeat variable is no longer needed and can be removed """
print "\nNow looping on transmit. "
- if duration!= None:
- starttime = time.time();
- while((time.time()-starttime < duration)):
+ 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:
- while(1):
+ for i in range(0,writes):
self.client.MCPrts(TXB0=True);
-
+ print "messages injected"
+
# MORE DEBUGGING
if(debug):
checkcount = 0;
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
+ # 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]
+ dlc = 8
+ for i in range(3,dlc+3):
+ packet.append(row[i])
+ print packet
+ self.client.txpacket(packet)
+
+
+
+
if __name__ == "__main__":
# 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,duration=duration, repeat=repeat, debug=debug)
+ comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)
projects / goodfet / blobdiff