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, parsed=True):
+ def sniff(self,freq,duration,description, verbose=True, comment=None, filename=None, standardid=None, debug=False, faster=False, parsed=True, data = None):
#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
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();
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:
msgIDs = []
self.client.serInit()
self.client.MCPsetup()
- for i in range(low, high, 6):
+ 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)
ids = []
self.client.serInit()
self.client.MCPsetup()
- for i in range(0,number,6):
+ for i in range(0,number+1,6):
idsTemp = []
comment = "sweepFilter: "
for j in range(0,6,1):
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):
+
+ 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();
+
+
+ # this will sweep through the given ids to request a packet and then sniff on that
+ # id for a given amount duration. This will be repeated the number of attempts time
+
+ #at the moment this is set to switch to the next id once a message is identified
+ def rtrSweep(self,freq,lowID,highID, attempts = 1,duration = 1, verbose = True):
+ #set up file
+ now = datetime.datetime.now()
+ datestr = now.strftime("%Y%m%d")
+ path = self.DATALOCATION+datestr+"_rtr.csv"
+ filename = path
+ outfile = open(filename,'a');
+ dataWriter = csv.writer(outfile,delimiter=',');
+ dataWriter.writerow(['# Time Error Bytes 1-13']);
+ dataWriter.writerow(['#' + "rtr sweep from %d to %d"%(lowID,highID)])
+ print "started"
+ #self.client.serInit()
+ #self.spitSetup(freq)
+ for i in range(lowID,highID+1, 1):
+ self.client.serInit()
+ self.spitSetup(freq)
+ standardid = [i, i, i, i]
+ #set filters
+ self.addFilter(standardid, verbose = True)
+
+ #### split SID into different areas
+ 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
+ #create RTR packet
+ packet = [SIDhigh, SIDlow, 0x00,0x00,0x40]
+ dataWriter.writerow(["#requested id %d"%i])
+ #self.client.poke8(0x2C,0x00); #clear the CANINTF register; we care about bits 0 and 1 (RXnIF flags) which indicate a message is being held
+ #clear buffer
+ packet1 = self.client.rxpacket();
+ packet2 = self.client.rxpacket();
+ #send in rtr request
+ self.client.txpacket(packet)
+ ## listen for 2 packets. one should be the rtr we requested the other should be
+ ## a new packet response
+ starttime = time.time()
+ while ((time.time() - starttime) < duration):
+ packet = self.client.rxpacket()
+ if( packet == None):
+ continue
+ row = []
+ row.append("%f"%time.time()) #timestamp
+ row.append(0) #error flag (not checkign)
+ row.append("rtrRequest_%d"%i) #comment
+ row.append(duration) #sniff time
+ row.append(1) # filtering boolean
+ for byte in packet:
+ row.append("%02x"%ord(byte));
+ dataWriter.writerow(row)
+ print self.client.packet2parsedstr(packet)
+# packet1=self.client.rxpacket();
+# packet2=self.client.rxpacket();
+# if( packet1 != None and packet2 != None):
+# print "packets recieved :\n "
+# print self.client.packet2parsedstr(packet1);
+# print self.client.packet2parsedstr(packet2);
+# continue
+# elif( packet1 != None):
+# print self.client.packet2parsedstr(packet1)
+# elif( packet2 != None):
+# print self.client.packet2parsedstr(packet2)
+ trial= 2;
+ # for each trial
+ while( trial <= attempts):
+ print "trial: ", trial
+ self.client.MCPrts(TXB0=True);
+ starttime = time.time()
+ # this time we will sniff for the given amount of time to see if there is a
+ # time till the packets come in
+ while( (time.time()-starttime) < duration):
+ packet=self.client.rxpacket();
+ row = []
+ row.append("%f"%time.time()) #timestamp
+ row.append(0) #error flag (not checking)
+ row.append("rtrRequest_%d"%i) #comment
+ row.append(duration) #sniff time
+ row.append(1) # filtering boolean
+ for byte in packet:
+ row.append("%02x"%ord(byte));
+ dataWriter.writerow(row)
+ print self.client.packet2parsedstr(packet)
+# packet2=self.client.rxpacket();
+#
+# if( packet1 != None and packet2 != None):
+# print "packets recieved :\n "
+# print self.client.packet2parsedstr(packet1);
+# print self.client.packet2parsedstr(packet2);
+# #break
+# elif( packet1 != None):
+# print "just packet1"
+# print self.client.packet2parsedstr(packet1)
+# elif( packet2 != None):
+# print "just packet2"
+# print self.client.packet2parsedstr(packet2)
+ trial += 1
+ print "sweep complete"
+ outfile.close()
def spitSetup(self,freq):
self.reset();
self.client.MCPsetrate(freq);
self.client.MCPreqstatNormal();
- def spit(self,freq, standardid,debug, packet = None):
-
- #comm.reset();
- #self.client.MCPsetrate(freq);
- #self.client.MCPreqstatNormal();
-
- print "initial 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!!!"
+
+ 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
- # 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]
-
if(packet == None):
- packetE = [SIDhigh, SIDlow | 0x80, 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]
+
+ # 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:
- #packetE = [SIDhigh, SIDlow | 0x80, 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]]
+
+ # 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
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);
-
- checkcount = 0;
- TXB0CTRL = self.client.peek8(0x30);
-
- # 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);
+
+ 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"
+
+ # 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 "EFLG register: %02x" % self.client.peek8(0x2d);
+ print "TXB0CTRL: %02x" %TXB0CTRL;
+ print "CANINTF: %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):
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