X-Git-Url: http://git.rot13.org/?p=goodfet;a=blobdiff_plain;f=client%2FGoodFETMCPCANCommunication.py;h=a1a2e081e0695c648a83812e363dc9b3622e712f;hp=8fbec7e0e6a37882292dfce8bc69cdf4a073508b;hb=5b7f84b9bbc7e49e48a7dfb78a5cb1fb07622de7;hpb=395f21739bcc43cf11e168268ddbc41026d77bff diff --git a/client/GoodFETMCPCANCommunication.py b/client/GoodFETMCPCANCommunication.py index 8fbec7e..a1a2e08 100644 --- a/client/GoodFETMCPCANCommunication.py +++ b/client/GoodFETMCPCANCommunication.py @@ -15,9 +15,12 @@ import sys; 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: @@ -25,7 +28,9 @@ class GoodFETMCPCANCommunication: self.client=GoodFETMCPCAN(); self.client.serInit() self.client.MCPsetup(); + self.DATALOCATION = "../../contrib/ThayerData/" + def printInfo(self): @@ -63,16 +68,21 @@ class GoodFETMCPCANCommunication: def reset(self): self.client.MCPsetup(); + ########################## # SNIFF ########################## - def sniff(self,freq,duration,filename,description, verbose=True, comment=None, standardid=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): + #reset eveything on the chip + self.client.serInit() + self.reset() + #### ON-CHIP FILTERING if(standardid != None): - comment = comment+"Filtering for SID "; - + 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 @@ -104,7 +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 @@ -113,24 +123,43 @@ class GoodFETMCPCANCommunication: if (verbose == True): print "Filtering for SID %d (0x%02xh) with filter #%d"%(ID, ID, filter); - comment = comment + "%d " %(ID); + comment += ("f%d" %(ID)) self.client.MCPsetrate(freq); - outfile = open(filename,'a'); - dataWriter = csv.writer(outfile,delimiter=','); - dataWriter.writerow(['# Time Error Bytes 1-13']); - dataWriter.writerow(['#' + description]) - + # This will handle the files so that we do not loose them. each day we will create a new csv file + 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" + filename = path + + 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; 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(); @@ -144,15 +173,34 @@ class GoodFETMCPCANCommunication: 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()); if( verbose==True): - print self.client.packet2str(packet) + #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): @@ -179,13 +227,69 @@ class GoodFETMCPCANCommunication: 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() + 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 sniffTest(self, freq): rate = freq; @@ -211,6 +315,7 @@ class GoodFETMCPCANCommunication: def freqtest(self,freq): + self.client.MCPsetup(); self.client.MCPsetrate(freq); @@ -259,71 +364,220 @@ 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): - def spit(self,freq): + 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(); + + + + + 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); + # 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): + 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__": @@ -346,13 +600,15 @@ 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="../../contrib/ted/sniff_out.csv",help='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 @@ -363,6 +619,8 @@ if __name__ == "__main__": comments = args.comment debug = args.debug standardid = args.standardid + faster=args.faster + repeat = args.repeat comm = GoodFETMCPCANCommunication(); @@ -394,7 +652,7 @@ if __name__ == "__main__": # if(args.verb=="sniff"): - comm.sniff(freq=freq,duration=duration,filename=filename,description=description,verbose=verbose,comment=comments, standardid=standardid) + comm.sniff(freq=freq,duration=duration,description=description,verbose=verbose,comment=comments,filename=filename, standardid=standardid, debug=debug, faster=faster) ########################## # SNIFF TEST @@ -407,6 +665,7 @@ if __name__ == "__main__": if(args.verb=="snifftest"): comm.sniffTest(freq=freq) + ########################## # FREQ TEST ########################## @@ -420,6 +679,8 @@ if __name__ == "__main__": if(args.verb=="freqtest"): comm.freqtest(freq=freq) + + ########################## # iSniff ########################## @@ -465,7 +726,7 @@ 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) + comm.spitSingle(freq=freq, standardid=standardid,duration=duration, repeat=repeat, debug=debug)