played around with different inputs to change the temperature display
[goodfet] / client / GoodFETMCPCANCommunication.py
index 41a8cce..676d018 100644 (file)
@@ -20,6 +20,7 @@ import os
 from random import randrange
 from GoodFETMCPCAN import GoodFETMCPCAN;
 from intelhex import IntelHex;
+import Queue
 
 class GoodFETMCPCANCommunication:
     
@@ -72,7 +73,7 @@ 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() 
@@ -113,7 +114,7 @@ class GoodFETMCPCANCommunication:
                 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 
@@ -152,7 +153,13 @@ class GoodFETMCPCANCommunication:
                 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();
@@ -188,6 +195,7 @@ class GoodFETMCPCANCommunication:
                         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:
@@ -239,7 +247,7 @@ class GoodFETMCPCANCommunication:
         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)
@@ -260,7 +268,7 @@ class GoodFETMCPCANCommunication:
         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):
@@ -387,66 +395,251 @@ class GoodFETMCPCANCommunication:
                     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);
+            
+        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"
         
-        checkcount = 0;
-        TXB0CTRL = self.client.peek8(0x30);
-        
-        while(TXB0CTRL | 0x00 != 0x00):
-            checkcount+=1;
+        # MORE DEBUGGING        
+        if(debug): 
+            checkcount = 0;
             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);
+        
+            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):
@@ -482,8 +675,9 @@ 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
@@ -495,6 +689,7 @@ if __name__ == "__main__":
     debug = args.debug
     standardid = args.standardid
     faster=args.faster
+    repeat = args.repeat
 
     comm = GoodFETMCPCANCommunication();
     
@@ -600,7 +795,7 @@ 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, debug=debug)
+        comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)