Added GoodFETMCPCAN().readrxbuffer() for reading incoming packets.

git-svn-id: https://svn.code.sf.net/p/goodfet/code/trunk@1228 12e2690d-a6be-4b82-a7b7-67c4a43b65c8

diff --git a/client/GoodFETMCPCAN.py b/client/GoodFETMCPCAN.py
index aab98f4..c00af14 100644 (file)
--- a/client/GoodFETMCPCAN.py
+++ b/client/GoodFETMCPCAN.py
@@ -15,6 +15,9 @@ import sys, time, string, cStringIO, struct, glob, os;
 from GoodFETSPI import GoodFETSPI;
 
 class GoodFETMCPCAN(GoodFETSPI):
 from GoodFETSPI import GoodFETSPI;
 
 class GoodFETMCPCAN(GoodFETSPI):

+    """This class uses the regular SPI app to implement a CAN Bus
+    adapter on the Goodthopter10 hardware."""
+    

     def MCPsetup(self):
         """Sets up the ports."""
         self.SPIsetup();
     def MCPsetup(self):
         """Sets up the ports."""
         self.SPIsetup();


@@ -23,15 +26,18 @@ class GoodFETMCPCAN(GoodFETSPI):
     def MCPreset(self):
         """Reset the MCP2515 chip."""
         self.SPItrans([0xC0]);
     def MCPreset(self):
         """Reset the MCP2515 chip."""
         self.SPItrans([0xC0]);

+

     def MCPrxstatus(self):
         """Reads the RX Status by the SPI verb of the same name."""
         data=self.SPItrans([0xB0,0x00]);
         return ord(data[1]);
     def MCPrxstatus(self):
         """Reads the RX Status by the SPI verb of the same name."""
         data=self.SPItrans([0xB0,0x00]);
         return ord(data[1]);

+

     def MCPreadstatus(self):
         """Reads the Read Status by the SPI verb of the same name."""
         #See page 67 of the datasheet for the flag names.
         data=self.SPItrans([0xA0,0x00]);
         return ord(data[1]);
     def MCPreadstatus(self):
         """Reads the Read Status by the SPI verb of the same name."""
         #See page 67 of the datasheet for the flag names.
         data=self.SPItrans([0xA0,0x00]);
         return ord(data[1]);

+

     def MCPrts(self,TXB0=False,TXB1=False,TXB2=False):
         """Requests to send one of the transmit buffers."""
         flags=0;
     def MCPrts(self,TXB0=False,TXB1=False,TXB2=False):
         """Requests to send one of the transmit buffers."""
         flags=0;


@@ -42,13 +48,25 @@ class GoodFETMCPCAN(GoodFETSPI):
         if flags==0:
             print "Warning: Requesting to send no buffer.";
         
         if flags==0:
             print "Warning: Requesting to send no buffer.";
         

-        """Request To Send a transmission."""

         self.SPItrans([0x80|flags]);
         self.SPItrans([0x80|flags]);

+    def readrxbuffer(self,packbuf=0):
+        """Reads the RX buffer.  Might have old data."""
+        data=self.SPItrans([0x90|(packbuf<<2),
+                       0x00,0x00, #SID
+                       0x00,0x00, #EID
+                       0x00,      #DLC
+                       0x00, 0x00, 0x00, 0x00,
+                       0x00, 0x00, 0x00, 0x00
+                       ]);
+        return data[1:len(data)];

     def peek8(self,adr):
         """Read a byte from the given address.  Untested."""
         data=self.SPItrans([0x03,adr&0xFF,00]);
         return ord(data[2]);
     def peek8(self,adr):
         """Read a byte from the given address.  Untested."""
         data=self.SPItrans([0x03,adr&0xFF,00]);
         return ord(data[2]);

-    
+    def MCPbitmodify(self,adr,mask,data):
+        """Writes a byte with a mask.  Doesn't work for many registers."""
+        data=self.SPItrans([0x05,adr&0xFF,mask&0xFF,data&0xFF]);
+        return ord(data[2]);

     def poke8(self,adr,val):
         """Poke a value into RAM.  Untested"""
         self.SPItrans([0x02,adr&0xFF,val&0xFF]);
     def poke8(self,adr,val):
         """Poke a value into RAM.  Untested"""
         self.SPItrans([0x02,adr&0xFF,val&0xFF]);