#
# (C) 2012 Travis Goodspeed <travis at radiantmachines.com>
#
-#
-# 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
-#
+# Edited By: Chris Hoder 2013
+# Ted Summers 2013
+# Grayson Zulauf 2013
#
+
import sys;
import binascii;
import array;
class GoodFETMCPCANCommunication:
- def __init__(self, dataLocation):
+ def __init__(self, dataLocation = "../../contrib/ThayerData/"):
self.client=GoodFETMCPCAN();
""" Communication with the bus"""
self.client.serInit()
def printInfo(self):
"""
This method will print information about the board to the terminal.
- It is good for diagnostics
+ It is good for diagnostics.
"""
self.client.MCPreqstatConfiguration();
# 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:
packet.append(row[i])
print packet
self.client.txpacket(packet)
+
+
+ def speedometerHack(self):
+
+ self.client.serInit()
+ self.spitSetup(500)
+
+ self.addFilter([513, 513, 513])
+
+ SIDlow = (513 & 0x07) << 5; # get SID bits 2:0, rotate them to bits 7:5
+ SIDhigh = (513 >> 3) & 0xFF; # get SID bits 10:3, rotate them to bits 7:0
+
+ while(1):
+
+ packet = None;
+
+ # catch a packet and check its db4 value
+ while (packet == None):
+ packet=self.client.rxpacket();
+
+ print "DB4 = %d" %packet[9]
+ mph = 1.617*packet[9] - 63.5
+ print "Current MPH = 1.617(%d)-63.5 = %d" %(packet[9], mph)
+
+ # calculate our new mph and db4 value
+ mph = mph + 15;
+ packet[9] = ( mph + 63.5 ) / 1.617
+
+ # load new packet into TXB0 and check time
+ self.multiPacketSpit(packet0=packet, packet0rts=True)
+ starttime = time.time()
+
+ # spit new value for 1 second
+ while (time.time()-starttime < 1):
+ self.multiPacketSpit(packet0rts=True)
+
+
+
+ [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]]
+
+
+# while((time.time()-starttime < duration)):
+#
+# if(faster):
+# packet=self.client.fastrxpacket();
+# else:
+
+