#
# (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
#
+# Edited By: Chris Hoder 2013
+# Ted Summers 2013
+# Grayson Zulauf 2013
#
-# Ted's working copy
-# 1) getting hot reads on frequency
-# 2) allow sniffing in "normal" mode to get ack bits
-# --check if that's whats causing error flags in board-to-board transmission
-#
-#
+
import sys;
import binascii;
class GoodFETMCPCANCommunication:
- def __init__(self):
+ def __init__(self, dataLocation = "../../contrib/ThayerData/"):
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):
+ 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
- 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.rxpacket();
#add the data to list if the pointer was included
- if(data != None):
+ if(data != None and packet != None):
#data.append(self.client.packet2parsedstr(packet))
- data.put(self.client.packet2parsed(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());
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
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+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 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):
+ """
+ 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();
- # 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)
+ def multiPacketTest(self):
+
+ self.reset();
+ self.client.MCPsetrate(500);
+ self.client.MCPreqstatNormal();
+
+ packet0 = [0x00, 0x00, 0x00,0x00, # pad out EID regs
+ 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
+ # lower nibble is DLC
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
+
+ packet1 = [0x00, 0x20, 0x00,0x00, # pad out EID regs
+ 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
+ # lower nibble is DLC
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
+ packet2 = [0x00, 0x40, 0x00,0x00, # pad out EID regs
+ 0x08, # bit 6 must be set to 0 for data frame (1 for RTR)
+ # lower nibble is DLC
+ 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]
- #### 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()
+ comm.multiPacketSpit(packet0=packet0, packet1=packet1, packet2=packet2)
+
+ comm.multiPacketSpit(packet0rts=True, packet1rts=True, packet2rts=True)
+ comm.multiPacketSpit(packet2rts=True)
+ comm.multiPacketSpit(packet1rts=True)
+ comm.multiPacketSpit(packet0rts=True)
+
+
+
+ def multiPacketSpit(self, packet0 = None, packet1 = None, packet2 = None, packet0rts = False, packet1rts = False, packet2rts = False):
+ """
+ This method writes packets to the chip's TX buffers and/or sends the contents of the buffers onto the bus.
+
+ @type packet0: list of integer
+ @param packet0: A list of 13 integers of the format [SIDhigh SIDlow 0 0 DLC DB0-7] to be loaded into TXBF0
+
+ @type packet1: list of integer
+ @param packet1: A list of 13 integers of the format [SIDhigh SIDlow 0 0 DLC DB0-7] to be loaded into TXBF1
+
+ @type packet2: list of integer
+ @param packet2: A list of 13 integers of the format [SIDhigh SIDlow 0 0 DLC DB0-7] to be loaded into TXBF2
+
+ @type packet0rts: Boolean
+ @param packet0rts: If true the message in TX buffer 0 will be sent
+
+ @type packet2rts: Boolean
+ @param packet0rts: If true the message in TX buffer 1 will be sent
+
+ @type packet2rts: Boolean
+ @param packet0rts: If true the message in TX buffer 2 will be sent
+
+ """
+
+ if(packet0 != None):
+ self.client.writetxbuffer(packet0,0)
+ # print("trying to write TX buffer 0");
+ # for db in packet0:
+ # print" %d" %db
+ if (packet1 != None):
+ self.client.writetxbuffer(packet1,1)
+ # print("trying to write TX buffer 1");
+ # for db in packet0:
+ # print" %d" %db
+ if (packet2 != None):
+ self.client.writetxbuffer(packet2,2)
+ # print("trying to write TX buffer 2");
+ # for db in packet0:
+ # print" %d" %db
+
+ # if(packet0rts):
+ # print("trying to send TX buffer 0")
+ #if(packet1rts):
+ # print("trying to send TX buffer 1")
+ #if(packet2rts):
+ # print("trying to send TX buffer 2")
+
+ self.client.MCPrts(TXB0=packet0rts, TXB1=packet1rts, TXB2=packet2rts)
+
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, duration = None, debug = False, packet = None):
-
+ 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)
+ #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);
- print "MSG printed"
+ #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"
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):
+ """
+ This method will write a list of packets to the bus at the given frequency. This method assumes a packet
+ length of 8 for all packets as well as a standard id.
+
+ @type packets: List of Lists
+ @param packets: The list of packets to be injected into the bus. Each element of packets is a list that is
+ a packet to be injected onto the bus. These packets are assumed to be in the following format::
+ 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
+ ...
+ row[10] = Data Byte 7
+
+ @type freq: number
+ @param freq: Frequency of the CAN bus
+
+ """
+ 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__":
''')
- 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', 'multipacket']);
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)
+ if(args.verb=="multipacket"):
+ comm.multiPacketTest();
##########################
# 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