changes to the GUI to allow for better loading and writing as well as tested our...
[goodfet] / client / GoodFETMCPCANCommunication.py
index 609bf88..676d018 100644 (file)
@@ -16,9 +16,11 @@ import binascii;
 import array;
 import csv, time, argparse;
 import datetime
-
+import os
+from random import randrange
 from GoodFETMCPCAN import GoodFETMCPCAN;
 from intelhex import IntelHex;
+import Queue
 
 class GoodFETMCPCANCommunication:
     
@@ -26,24 +28,20 @@ class GoodFETMCPCANCommunication:
        self.client=GoodFETMCPCAN();
        self.client.serInit()
        self.client.MCPsetup();
+       self.DATALOCATION = "../../contrib/ThayerData/"
+       
+
     
-       # create a filename with today's date
-       now = datetime.datetime.now()
-       self.filename = "../../contrib/ThayerData/"
-       self.filename += now.strftime("%Y%m%d")
-    
-    ##########################
-    #   INFO
-    ##########################
-    #
-    # Prints MCP state info
-    #
     def printInfo(self):
+        
+        self.client.MCPreqstatConfiguration();
+        
         print "MCP2515 Info:\n\n";
         
         print "Mode: %s" % self.client.MCPcanstatstr();
         print "Read Status: %02x" % self.client.MCPreadstatus();
         print "Rx Status:   %02x" % self.client.MCPrxstatus();
+        print "Error Flags:  %02x" % self.client.peek8(0x2D);
         print "Tx Errors:  %3d" % self.client.peek8(0x1c);
         print "Rx Errors:  %3d\n" % self.client.peek8(0x1d);
         
@@ -53,6 +51,14 @@ class GoodFETMCPCANCommunication:
         print "CNF3: %02x\n" %self.client.peek8(0x28);
         print "RXB0 CTRL: %02x" %self.client.peek8(0x60);
         print "RXB1 CTRL: %02x" %self.client.peek8(0x70);
+        
+        print "RX Info:";
+        print "RXB0: %02x" %self.client.peek8(0x60);
+        print "RXB1: %02x" %self.client.peek8(0x70);
+        print "RXB0 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x20), self.client.peek8(0x21), self.client.peek8(0x22), self.client.peek8(0x23));
+        print "RXB1 masks: %02x, %02x, %02x, %02x" %(self.client.peek8(0x24), self.client.peek8(0x25), self.client.peek8(0x26), self.client.peek8(0x27));
+
+        
         print "RX Buffers:"
         packet0=self.client.readrxbuffer(0);
         packet1=self.client.readrxbuffer(1);
@@ -61,50 +67,230 @@ class GoodFETMCPCANCommunication:
            
     def reset(self):
         self.client.MCPsetup();
+    
+    
+    ##########################
+    #   SNIFF
+    ##########################
          
-    def sniff(self,freq,duration,filename,description, verbose=True, comment=None):
-        if(filename=None):
-            filename=self.filename
+    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() 
+        self.reset()
+          
+        #### ON-CHIP FILTERING
+        if(standardid != None):
+            if( comment == None):
+                comment = ""
+            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);
+               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):
+            #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])
-            
-        self.client.MCPreqstatListenOnly();
+        
+        self.client.MCPreqstatNormal();
         print "Listening...";
         packetcount = 0;
         starttime = time.time();
-    
+        
         while((time.time()-starttime < duration)):
-            packet=self.client.rxpacket();
+            
+            if(faster):
+                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();
+                messagestat=MCPstatusReg&0xC0;
+                messagetype=MCPstatusReg&0x18;
+                if(messagestat == 0xC0):
+                    print "Message in both buffers; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
+                elif(messagestat == 0x80):
+                    print "Message in RXB1; message type is %02x (0x00 is standard data, 0x08 is standard remote)." %messagetype
+                elif(messagestat == 0x40):
+                    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:
-                if( verbose==True):
-                    print self.client.packet2str(packet)   
+                
                 packetcount+=1;
                 row = [];
                 row.append("%f"%time.time());
-                if (self.client.peek8(0x2C) & 0x80):
-                    self.client.MCPbitmodify(0x2C,0x80,0x00);
-                    print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
-                    row.append(1);
+                
+                if( verbose==True):
+                    #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):
+                    
+                    #check overflow
+                    MCPeflgReg=self.client.peek8(0x2D);
+                    print"EFLG register equals: %x" %MCPeflgReg;
+                    if((MCPeflgReg & 0xC0)==0xC0):
+                        print "WARNING: BOTH overflow flags set. Missed a packet. Clearing and proceeding."
+                    elif(MCPeflgReg & 0x80):
+                        print "WARNING: RXB1 overflow flag set. A packet has been missed. Clearing and proceeding."
+                    elif(MCPeflgReg & 0x40):
+                        print "WARNING: RXB0 overflow flag set. A packet has been missed. Clearing and proceeding."
+                    self.client.MCPbitmodify(0x2D,0xC0,0x00);
+                    print"EFLG register set to: %x" % self.client.peek(0x2D);
+                
+                    #check for errors
+                    if (self.client.peek8(0x2C) & 0x80):
+                        self.client.MCPbitmodify(0x2C,0x80,0x00);
+                        print "ERROR: Malformed packet recieved: " + self.client.packet2str(packet);
+                        row.append(1);
+                    else:
+                        row.append(0);
                 else:
-                    row.append(0);
-
-                #write comment
+                    row.append(0);  #since we don't check for errors if we're not in debug mode...
+                            
                 row.append(comment)
+                #how long the sniff was for
+                row.append(duration)
+                #boolean that tells us if there was filtering. 0 == no filters, 1 == filters
+                if(standardid != None):
+                    row.append(1)
+                else:
+                    row.append(0)
+                #write packet to file
                 for byte in packet:
                     row.append("%02x"%ord(byte));
                 dataWriter.writerow(row);
         
         outfile.close()
-        print "Listened for %x seconds, captured %x packets." %(duration,packetcount);
+        print "Listened for %d seconds, captured %d packets." %(duration,packetcount);
+        return packetcount
         
         
-        
-    def sniffTest(self, freq):
-        self.client.MCPsetup();
+    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):
+        
         rate = freq;
         
         print "Calling MCPsetrate for %i." %rate;
@@ -128,6 +314,7 @@ class GoodFETMCPCANCommunication:
    
     
     def freqtest(self,freq):
+        
         self.client.MCPsetup();
 
         self.client.MCPsetrate(freq);
@@ -176,70 +363,289 @@ class GoodFETMCPCANCommunication:
                 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):
+        
+               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 spit(self,freq):
+    def spitSetup(self,freq):
+        self.reset();
         self.client.MCPsetrate(freq);
         self.client.MCPreqstatNormal();
         
-        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"  %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] & 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 = [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]    
+        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] 
         
-        self.client.txpacket(packet);
-    
-        if(self.client.peek8(0x2C)&0x80)==0x80:
-            print "Error flag raised on transmission. Clearing this flag and proceeding.\n"
-            print "INT Flags:  %02x" % self.client.peek8(0x2c);
-            self.client.MCPbitmodify(0x2C,0x80,0x00);
-            print "INT Flags modified to:  %02x\n" % self.client.peek8(0x2c);
+        
+                #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                   
+                 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);
-            self.client.MCPbitmodify(0x30,0x08,0x00);
-            print "TXB0CTRL modified to: %02x\n" %self.client.peek8(0x30);
-    
-        print "message sending attempted.";
-        print "Tx Errors:  %02x" % self.client.peek8(0x1c);
-        print "Rx Errors:  %02x" % self.client.peek8(0x1d);
-        print "Error Flags:  %02x" % self.client.peek8(0x2d);        
+            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"
+        
+        # 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):
+        self.client.MCPsetrate(freq);
+        
+
 
 
 if __name__ == "__main__":  
@@ -263,10 +669,15 @@ if __name__ == "__main__":
     parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
     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, elp='Output file');
+    parser.add_argument('-o', '--output', default=None,help='Output file');
     parser.add_argument("-d", "--description", help='Description of experiment (included in the output file)', default="");
     parser.add_argument('-v',"--verbose",action='store_false',help='-v will stop packet output to terminal', default=True);
     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('-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
@@ -275,6 +686,10 @@ if __name__ == "__main__":
     description = args.description
     verbose = args.verbose
     comments = args.comment
+    debug = args.debug
+    standardid = args.standardid
+    faster=args.faster
+    repeat = args.repeat
 
     comm = GoodFETMCPCANCommunication();
     
@@ -306,9 +721,7 @@ if __name__ == "__main__":
     #
     
     if(args.verb=="sniff"):
-        comm.sniff(freq=freq,duration=duration,filename=filename,description=description,verbose=verbose,comment=comments)
-        
-    
+        comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)    
                     
     ##########################
     #   SNIFF TEST
@@ -321,6 +734,7 @@ if __name__ == "__main__":
     if(args.verb=="snifftest"):
         comm.sniffTest(freq=freq)
         
+        
     ##########################
     #   FREQ TEST
     ##########################
@@ -334,6 +748,8 @@ if __name__ == "__main__":
     if(args.verb=="freqtest"):
         comm.freqtest(freq=freq)
 
+
+
     ##########################
     #   iSniff
     ##########################
@@ -356,7 +772,6 @@ if __name__ == "__main__":
     if(args.verb=="test"):
         comm.test()
         
-        
     if(args.verb=="peek"):
         start=0x0000;
         if(len(sys.argv)>2):
@@ -380,7 +795,9 @@ 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)
+        comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)
+
+