class GoodFETMCPCANCommunication:
- def __init__(self):
+ 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 terminal.
+ It is good for diagnostics
+ """
self.client.MCPreqstatConfiguration();
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, data = None,writeToFile=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, db0 = None, db1 = 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))
-
+ # filtering for specific packets
+ if(db0 != None and db1 != None and standardid != None):
+ self.filterForPacket(standardid[0], db0, db1, verbose)
+ if(comment == None):
+ comment = ""
+ comment += ("f%d[%d][%d]" %(standardid[0], db0, db1))
+ # filtering for standard ID
+ elif(standardid != None):
+ self.addFilter(standardid, verbose)
+ if(comment == None):
+ comment = ""
+ for ID in standardid:
+ 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
#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
if( writeToFile == True):
msg += " data:"
for i in range(0,length):
dbidx = 'db%d'%i
- msg +=" %03d"% ord(packetParsed[dbidx])
+ msg +=" %03d"% packetParsed[dbidx]
#msg = self.client.packet2parsedstr(packet)
print msg
# if we want to print just the message as it is read off the chip
# return msgIDs, ids
def sniffTest(self, freq):
+ """
+ This method will preform a test to see if we can sniff corretly formed packets from the CAN bus.
+ @type freq: number
+ @param freq: frequency of the CAN bus
+ """
rate = freq;
print "Calling MCPsetrate for %i." %rate;
def freqtest(self,freq):
+ """
+ This method will test the frequency provided to see if it is the correct frequency for this CAN bus.
+
+ @type freq: Number
+ @param freq: The frequency to listen to the CAN bus.
+ """
self.client.MCPsetup();
self.client.MCPsetrate(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);
def addFilter(self,standardid, verbose= True):
- comment = None
+ """ 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
+ @todo: rename setFilters
+ """
+
### ON-CHIP FILTERING
if(standardid != None):
self.client.MCPreqstatConfiguration();
#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 filterForPacket(self, standardid, DB0, DB1, verbose= True):
+ """
+ This method will configure filters on the board to listen for a specific packet originating
+ from standardid with data bytes 0 and 1. It will configure all six filters, so you will not receive any other packets.
+
+ @type standardid: integer
+ @param standardid: standardID to listen for
+ @type DB0: integer
+ @param standardid: DB0 contents to filter for
+ @type DB1: integer
+ @param standardid: DB1 contents to filter for
+ @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
+
+ self.client.MCPreqstatConfiguration();
+
+ # SID filtering: set CTRL registers to only accept standard messages
+ self.client.poke8(0x60,0x06); # set RXB0 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RXM=1, BUKT=1)
+ self.client.poke8(0x70,0x00); # set RXB1 CTRL register to ONLY accept STANDARD messages with filter match (RXM1=0, RXM0=1)
+
+ # Mask buffer 0 to match SID, DB0, DB1
+ 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
+ self.client.poke8(0x22,0xFF); #set buffer 0 mask 3 (DB0) to FF
+ self.client.poke8(0x23,0xFF); #set buffer 0 mask 4 (DB0) to FF
+
+ # Mask buffer 1 to match SID, DB0, DB1
+ 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
+ self.client.poke8(0x26,0xFF); #set buffer 1 mask 3 (DB0) to FF
+ self.client.poke8(0x27,0xFF); #set buffer 1 mask 4 (DB1) to FF
+
+ # Split SID into high and low bytes
+ SIDlow = (standardid & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
+ SIDhigh = (standardid >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
+
+
+ for filter in range(0,5):
+ if (filter==0):
+ RXFSIDH = 0x00;
+ RXFSIDL = 0x01;
+ RXFDB0 = 0x02;
+ RXFDB1 = 0x03;
+ elif (filter==1):
+ RXFSIDH = 0x04;
+ RXFSIDL = 0x05;
+ RXFDB0 = 0x06;
+ RXFDB1 = 0x07;
+ elif (filter==2):
+ RXFSIDH = 0x08;
+ RXFSIDL = 0x09;
+ RXFDB0 = 0x0A;
+ RXFDB1 = 0x0B;
+ elif (filter==3):
+ RXFSIDH = 0x10;
+ RXFSIDL = 0x11;
+ RXFDB0 = 0x12;
+ RXFDB1 = 0x13;
+ elif (filter==4):
+ RXFSIDH = 0x14;
+ RXFSIDL = 0x15;
+ RXFDB0 = 0x16;
+ RXFDB1 = 0x17;
+ else:
+ RXFSIDH = 0x18;
+ RXFSIDL = 0x19;
+ RXFDB0 = 0x1A;
+ RXFDB1 = 0x1B;
+
+
+ self.client.poke8(RXFSIDH, SIDhigh);
+ self.client.poke8(RXFSIDL, SIDlow);
+ self.client.poke8(RXFDB0, DB0);
+ self.client.poke8(RXFDB1, DB1);
+
+ if (verbose == True):
+ print "Filtering for SID %d DB0 %d DB1 %d with filter #%d"%(standardid, DB0, DB1, 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 spitSingle(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 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, duration = None, debug = False, packet = None)
+ 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
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 "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:
+ """@todo: the repeat variable is no longer needed and can be removed """
print "\nNow looping on transmit. "
if period != None:
for i in range(0,writes):
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
SIDhigh = (sID >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
packet = [SIDhigh,SIDlow,0x00,0x00,0x08]
#dlc = row[2]
- for i in range(4,dlc+4):
+ dlc = 8
+ for i in range(3,dlc+3):
packet.append(row[i])
+ print packet
self.client.txpacket(packet)
''')
- parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit']);
+ parser.add_argument('verb', choices=['info', 'test','peek', 'reset', 'sniff', 'freqtest','snifftest', 'spit', 'packet']);
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');
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);
+ parser.add_argument('-db0', '--databyte0', type=int, default = None, help='-db0 to filter for a specfic data byte');
+ parser.add_argument('-db1', '--databyte1', type=int, default = None, help='-db0 to filter for a specfic data byte');
+
args = parser.parse_args();
standardid = args.standardid
faster=args.faster
repeat = args.repeat
+ db0 = args.databyte0
+ db1 = args.databyte1
- comm = GoodFETMCPCANCommunication();
+ comm = GoodFETMCPCANCommunication("./");
+
+ if(args.verb=="packet"):
+ comm.filterForPacket(standardid=standardid[0], DB0=db0, DB1=db1, verbose= True)
##########################
# INFO
#
if(args.verb=="sniff"):
- comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster)
+ comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster, db0=db0, db1=db1)
##########################
# SNIFF TEST
projects / goodfet / blobdiff