def receivePackets(self, timeout):
packets = []
endTime = time.time() + timeout
while 1:
if len(packets):
self._s.setblocking(0)
else:
newTimeout = endTime - time.time()
if newTimeout < 0:
self._s.setblocking(0)
else:
self._s.settimeout(newTimeout)
try:
frame = self._s.recvfrom(16)[0]
except (socket.timeout, BlockingIOError):
break
packet = self._decodeFrame(frame)
if not self._filterXcp or packet.data[0] == 0xFF or packet.data[
0] == 0xFE:
packets.append(packet)
if self._dumpTraffic:
print('RX ' + CANInterface.ID(packet.ident).getString() +
' ' + CANInterface.getDataHexString(packet.data))
return packets
def _doTransmit(self, data, ident):
if self._dumpTraffic:
print('TX ' + CANInterface.ID(ident).getString() + ' ' +
CANInterface.getDataHexString(data))
self._setTXTypeByIdent(ident)
self._updateBitrateTXType()
if self._cfgdHeaderIdent != ident:
if ident & 0x80000000:
self._runCmdWithCheck(
b'ATCP' +
bytes('{:02x}'.format((ident >> 24) & 0x1F), 'utf-8'))
self._runCmdWithCheck(
b'ATSH' +
bytes('{:06x}'.format(ident & 0xFFFFFF), 'utf-8'))
else:
self._runCmdWithCheck(b'ATSH' +
bytes('{:03x}'.format(ident
& 0x7FF), 'utf-8'))
self._cfgdHeaderIdent = ident
else:
self._io.syncAndGetPrompt(
self._intfcTimeout
) # Not synchronized by calling _runCmdWithCheck(), so do it here
self._io.write(binascii.hexlify(data) + b'\r')
def receivePackets(self, timeout):
assert self._cfgdBitrate != None and self._cfgdFilter != None
packets = []
endTime = time.time() + timeout
while 1:
try:
if len(packets):
packet = self._io.getReceived(timeout=0)
else:
newTimeout = endTime - time.time()
if newTimeout < 0:
packet = self._io.getReceived(timeout=0)
else:
packet = self._io.getReceived(timeout=newTimeout)
except queue.Empty:
break
if len(packet.data) > 0 and (packet.data[0] == 0xFF
or packet.data[0] == 0xFE):
packets.append(packet)
if self._dumpTraffic:
print('RX ' + CANInterface.ID(packet.ident).getString() +
' ' + CANInterface.getDataHexString(packet.data))
return packets
def transmitTo(self, data, ident):
if self._dumpTraffic:
print('TX ' + CANInterface.ID(ident).getString() + ' ' +
CANInterface.getDataHexString(data))
frame = self._buildFrame(data, ident)
import binascii
print(binascii.hexlify(frame).decode('utf-8'))
self._sendFrame(frame)
def transmitTo(self, data, ident):
assert self._cfgdBitrate != None
if self._dumpTraffic:
print('TX ' + CANInterface.ID(ident).getString() + ' ' +
CANInterface.getDataHexString(data))
frame = self._build_frame(data, ident)
res = self._dll.icsneoTxMessages(self._neoObject, ctypes.byref(frame),
self._icsNetId, 1)
if res != 1:
raise CANInterface.Error()
def receive(self, timeout):
assert self._cfgdBitrate != None
if self._slaveAddr.resId.raw == 0xFFFFFFFF:
return []
packets = []
if timeout != 0:
endTime = time.time() + timeout
else:
endTime = None
while 1:
if endTime != None:
newTimeout = int((endTime - time.time()) * 1000)
if newTimeout > 0:
self._dll.icsneoWaitForRxMessagesWithTimeOut(
self._neoObject, newTimeout)
else:
break
else:
endTime = 0 # allow one pass, then return on the next
icsMsgs = (_ICSSpyMessage * 20000)()
icsNMsgs = ctypes.c_int()
icsNErrors = ctypes.c_int()
res = self._dll.icsneoGetMessages(self._neoObject, icsMsgs,
ctypes.byref(icsNMsgs),
ctypes.byref(icsNErrors))
if res != 1:
raise CANInterface.Error()
for iMsg in range(icsNMsgs.value):
if icsMsgs[iMsg].NetworkID == self._icsNetId:
ident, data = self._decode_frame(icsMsgs[iMsg])
if len(data
) > 0 and ident == self._slaveAddr.resId.raw and (
data[0] == 0xFF or data[0] == 0xFE):
if self._dumpTraffic:
print('RX ' + self._slaveAddr.resId.getString() +
' ' + CANInterface.getDataHexString(data))
packets.append(data)
if len(packets) != 0:
break
return packets
def receive(self, timeout):
assert self._cfgdBitrate != None and self._cfgdFilter != None
if self._slaveAddr.resId.raw == 0xFFFFFFFF:
return []
msgs = []
endTime = time.time() + timeout
while 1:
try:
if len(msgs):
packet = self._io.getReceived(timeout=0)
else:
newTimeout = endTime - time.time()
if newTimeout < 0:
packet = self._io.getReceived(timeout=0)
else:
packet = self._io.getReceived(timeout=newTimeout)
except queue.Empty:
break
if packet.ident == self._slaveAddr.resId.raw and (
packet.data[0] == 0xFF or packet.data[0] == 0xFE):
msgs.append(packet.data)
if self._dumpTraffic:
print('RX ' + self._slaveAddr.resId.getString() + ' ' +
CANInterface.getDataHexString(packet.data))
return msgs
def do_connect(self, cmdLine):
'Connect to an XCP slave: connect'
parser = ShellArgParser(prog='connect', description=__doc__)
args = parser.parse_args(shlex.split(cmdLine))
slave = CANInterface.XCPSlaveCANAddr(args.commandId, args.responseId)
self.interface.connect(slave)
self.connection = XCPConnection.Connection(self.interface)
def receive(self, timeout):
if self._slaveAddr.resId.raw == 0xFFFFFFFF:
return []
msgs = []
endTime = time.time() + timeout
while 1:
if len(msgs):
self._s.setblocking(0)
else:
newTimeout = endTime - time.time()
if newTimeout < 0:
self._s.setblocking(0)
else:
self._s.settimeout(newTimeout)
try:
frame = self._s.recvfrom(16)[0]
except (socket.timeout, BlockingIOError):
break
packet = self._decodeFrame(frame)
if not self._filterXcp or packet.data[0] == 0xFF or packet.data[
0] == 0xFE:
msgs.append(packet.data)
if self._dumpTraffic:
print('RX ' + self._slaveAddr.resId.getString() + ' ' +
CANInterface.getDataHexString(packet.data))
return msgs
def do_interface(self, cmdLine):
'Connect to a CAN interface: connect <device URI>'
parser = ShellArgParser(prog='interface', description=__doc__)
parser.add_argument('deviceURI', help="CAN device URI", default=None)
args = parser.parse_args(shlex.split(cmdLine))
self.interface = CANInterface.MakeInterface(args.deviceURI)
self.connection = None
def setBitrate(self, bitrate):
print('Setting bitrate ' + str(bitrate))
setBitrateResult = self._dll.icsneoSetBitRate(self._neoObject, bitrate,
self._icsNetId)
if setBitrateResult != 1:
raise CANInterface.Error('Setting bitrate failed')
else:
self._cfgdBitrate = bitrate
def __init__(self, parsedURL):
if not SocketCANSupported():
raise CANInterface.InterfaceNotSupported(
'Socket module does not support CAN')
self._s = socket.socket(socket.AF_CAN, socket.SOCK_RAW, socket.CAN_RAW)
self._slaveAddr = CANInterface.XCPSlaveCANAddr(0xFFFFFFFF, 0xFFFFFFFF)
self._dumpTraffic = False
if parsedURL.netloc == None or parsedURL.netloc == "":
dev = 'can0'
else:
dev = parsedURL.netloc
try:
self._s.bind((dev, ))
except socket.error:
self._s.close()
raise CANInterface.ConnectFailed()
urlQueryDict = urllib.parse.parse_qs(parsedURL.query)
if 'filterxcp' in urlQueryDict:
self._filterXcp = (urlQueryDict['filterxcp'][0] != "0")
else:
self._filterXcp = True
def disconnect(self):
self._slaveAddr = CANInterface.XCPSlaveCANAddr(0xFFFFFFFF, 0xFFFFFFFF)
self._dumpTraffic = False
filt = struct.pack("=II", 0, 0)
self._s.setsockopt(socket.SOL_CAN_RAW, socket.CAN_RAW_FILTER, filt)
def _decodeFrame(self, frame):
ident, dlc, data = struct.unpack("=IB3x8s", frame)
return CANInterface.Packet(ident, data[0:dlc])
def __init__(self, parsedURL):
self._icsNetId = None
self._cfgdBitrate = None
self._dumpTraffic = False
self._filter = 0x00000000
self._mask = 0x00000000
if not hasattr(ctypes, 'windll'):
raise CANInterface.InterfaceNotSupported('Not a Windows system')
try:
self._dll = ctypes.windll.icsneo40
except OSError:
raise CANInterface.InterfaceNotSupported(
'Loading icsneo40.dll failed')
neoDevices = (_ICSNeoDevice * 64)()
self._neoObject = None
nNeoDevices = ctypes.c_int(64)
findResult = self._dll.icsneoFindNeoDevices(0xFFFFFFFF, neoDevices,
ctypes.byref(nNeoDevices))
if findResult != 1:
raise CANInterface.ConnectFailed('Finding ICS devices failed')
splitPath = parsedURL.path.split('/')
if len(splitPath) != 3:
raise CANInterface.ConnectFailed(
'Invalid ICS device path \'' + parsedURL.path +
'\'; path is ics:<devtype>/<dev-index>/<net-id>')
try:
devTypeMask = _ICS_TYPE_STRING_MASKS[splitPath[0]]
except KeyError:
raise CANInterface.ConnectFailed('Invalid ICS device type \'' +
splitPath[0] + '\'')
try:
devIdx = int(splitPath[1])
except ValueError:
raise CANInterface.ConnectFailed('Invalid ICS device index \'' +
splitPath[1] + '\'')
try:
self._icsNetId = _ICS_NET_IDS[splitPath[2]]
except KeyError:
raise CANInterface.ConnectFailed('Invalid ICS net id \'' +
splitPath[2])
devOfType = [
dev for dev in neoDevices[0:nNeoDevices.value]
if dev.DeviceType & devTypeMask
]
if len(devOfType) < devIdx + 1:
raise CANInterface.ConnectFailed('ICS device of type \'' +
splitPath[0] + '\', index ' +
str(devIdx) + ' not found')
sys.stderr.write('Connecting to ' +
_ICSDevTypeStr(neoDevices[0].DeviceType) + ' #' +
str(devIdx) + '\n')
netIDs = (ctypes.c_ubyte * 64)()
for i in range(len(netIDs)):
netIDs[i] = i
tempNeoObject = ctypes.c_int()
openResult = self._dll.icsneoOpenNeoDevice(
ctypes.byref(devOfType[devIdx]), ctypes.byref(tempNeoObject),
netIDs, 1, 0)
if openResult != 1:
raise CANInterface.ConnectFailed('Opening ICS device failed')
self._neoObject = tempNeoObject.value
self.setBitrate(CANInterface.URLBitrate(parsedURL))
self._slaveAddr = CANInterface.XCPSlaveCANAddr(0xFFFFFFFF, 0xFFFFFFFF)
if len(packets):
self._s.setblocking(0)
else:
newTimeout = endTime - time.time()
if newTimeout < 0:
self._s.setblocking(0)
else:
self._s.settimeout(newTimeout)
try:
frame = self._s.recvfrom(16)[0]
except (socket.timeout, BlockingIOError):
break
packet = self._decodeFrame(frame)
if not self._filterXcp or packet.data[0] == 0xFF or packet.data[
0] == 0xFE:
packets.append(packet)
if self._dumpTraffic:
print('RX ' + CANInterface.ID(packet.ident).getString() +
' ' + CANInterface.getDataHexString(packet.data))
return packets
def setFilter(self, filt):
rfilter = struct.pack('LL', filt[0], filt[1])
self._s.setsockopt(socket.SOL_CAN_RAW, socket.CAN_RAW_FILTER, rfilter)
if SocketCANSupported():
CANInterface.addInterface("socketcan", SocketCANInterface)
icsNErrors = ctypes.c_int()
res = self._dll.icsneoGetMessages(self._neoObject, icsMsgs,
ctypes.byref(icsNMsgs),
ctypes.byref(icsNErrors))
if res != 1:
raise CANInterface.Error()
for iMsg in range(icsNMsgs.value):
if icsMsgs[iMsg].NetworkID == self._icsNetId:
ident, data = self._decode_frame(icsMsgs[iMsg])
if (ident &
self._mask) == self._filter and len(data) > 0 and (
data[0] == 0xFF or data[0] == 0xFE):
packets.append(CANInterface.Packet(ident, data))
if self._dumpTraffic:
print('RX ' + CANInterface.ID(ident).getString() +
' ' + CANInterface.getDataHexString(data))
if len(packets) != 0:
break
return packets
def setFilter(self, filt):
self._filter = filt[0]
self._mask = filt[1]
if ICSSupported():
CANInterface.addInterface("ics", ICSCANInterface)
def transmit(self, data):
if self._dumpTraffic:
print('TX ' + self._slaveAddr.cmdId.getString() + ' ' +
CANInterface.getDataHexString(data))
frame = self._buildFrame(data, self._slaveAddr.cmdId.raw)
self._sendFrame(frame)
if newTimeout < 0:
packet = self._io.getReceived(timeout=0)
else:
packet = self._io.getReceived(timeout=newTimeout)
except queue.Empty:
break
if len(packet.data) > 0 and (packet.data[0] == 0xFF
or packet.data[0] == 0xFE):
packets.append(packet)
if self._dumpTraffic:
print('RX ' + CANInterface.ID(packet.ident).getString() +
' ' + CANInterface.getDataHexString(packet.data))
return packets
CANInterface.addInterface("elm327", ELM327CANInterface)
if __name__ == "__main__":
parsedurl = urllib.parse.urlparse(
'elm327:/dev/rfcomm0?debuglog=elm327.log')
elm327 = ELM327CANInterface(parsedurl)
elm327.setFilter((0x000, 0x80000000))
elm327.transmitTo(b'1234', 0x9FFFFFFF)
elm327.transmitTo(b'1234', 0x7FF)
time.sleep(1)
packets = elm327.receivePackets(1)
for packet in packets:
print(repr(packet))
elm327.close()
def disconnect(self):
self._slaveAddr = CANInterface.XCPSlaveCANAddr(0xFFFFFFFF, 0xFFFFFFFF)
self._doSetFilter(self._filter)
self._dumpTraffic = False
def __init__(self, parsedURL):
self._slaveAddr = None
self._port = None
self._bitrate = None
self._txAddrStd = False
self._cfgdBitrate = None
self._cfgdTxAddrStd = False
self._baudDivisor = None
self._baud87Mult = None
self._hasSetCSM0 = False
self._tcpTimeout = 1.0
self._serialTimeout = 0.2
self._dumpTraffic = False
self._cfgdHeaderIdent = None
self._filter = None
self._cfgdFilter = None
self._noCsmQuirk = False
self._isSt = False
self._io = None
urlQueryDict = urllib.parse.parse_qs(parsedURL.query)
debugLogfile = None
if 'debuglog' in urlQueryDict:
if urlQueryDict['debuglog'][0] == 'stdout':
debugLogfile = sys.stdout
else:
debugLogfile = open(urlQueryDict['debuglog'][0], 'w')
if len(parsedURL.netloc):
# If netloc is present, we're using a TCP connection
addr = parsedURL.netloc.split(':')
if len(addr) == 1:
addr.append(35000) # use default port
elif len(addr) != 2:
raise CANInterface.Error('Interface address invalid')
s = socket.socket()
s.create_connection(addr, 0)
self._port = SocketAsPort(s)
self._intfcTimeout = self._tcpTimeout
else:
if debugLogfile != None:
port = LoggingPort(debugLogfile)
else:
port = serial.Serial()
port.port = parsedURL.path
port.open()
foundBaud = False
for baudRate in self._POSSIBLE_BAUDRATES:
if DEBUG:
print('Trying ' + str(baudRate))
port.baudrate = baudRate
port.interCharTimeout = min(10 / baudRate, 0.0001)
port.timeout = 0.05
# Try sending a CR, if we get a prompt then it's probably the right baudrate
port.flushInput()
port.write(b'\r')
response = port.read(16384)
if len(response) == 0 or response[-1:] != b'>':
port.write(b'\r')
response = port.read(16384)
if len(response) == 0 or response[-1:] != b'>':
continue
# Turn off echo, this also serves as a test to make sure we didn't randomly get a > at the end of some gibberish
port.flushInput()
port.write(b'ATE0\r')
response = port.read(16)
if not b'OK' in response:
continue
# If we made contact at baudrate 500k, we're done
if baudRate == 500000:
foundBaud = True
break
# Not at 500k, try to change ELM to that
port.timeout = 1.28 # Maximum possible timeout for ELM327
port.flushInput()
port.write(b'ATBRD08\r')
response = port.read(2)
if response == b'?\r':
# Device does not allow baudrate change, but we found its operating baudrate
foundBaud = True
break
elif response == b'OK':
# Device allows baudrate change, try to switch to 500k
port.baudrate = 500000
port.flushInput()
response = port.read(11)
if response[0:6] != b'ELM327':
# Baudrate switch unsuccessful, try to recover
port.baudrate = baudRate
port.write(b'\r')
port.flushInput()
response = port.read(1024)
if len(response) == 0 or response[-1:] != b'>':
raise UnexpectedResponse('switching baudrate')
# Baudrate switched, send a CR to confirm we're on board
port.flushInput()
port.write(b'\r')
response = port.read(2)
if response != b'OK':
raise UnexpectedResponse('switching baudrate')
foundBaud = True
if response == b'ELM327 v1.5':
self._noCsmQuirk = True
break
if not foundBaud:
raise SerialError('could not find baudrate')
port.timeout = 0
self._port = port
self._intfcTimeout = self._serialTimeout
self._port.flushInput()
# Start the I/O thread, which takes over control of the port
self._io = ELM327IO(port)
self._runCmdWithCheck(b'ATWS', checkOK=False,
closeOnFail=True) # Software reset
self._runCmdWithCheck(b'ATE0', closeOnFail=True) # Turn off echo
self._runCmdWithCheck(b'ATL0', closeOnFail=True) # Turn off newlines
self._runCmdWithCheck(b'ATS0', closeOnFail=True) # Turn off spaces
self._runCmdWithCheck(b'ATH1', closeOnFail=True) # Turn on headers
self._runCmdWithCheck(b'ATAL',
closeOnFail=True) # Allow full length messages
try:
self._runCmdWithCheck(
b'STFCP', closeOnFail=False) # See if this is an ST device
self._isSt = True
except UnexpectedResponse:
pass
self.setBitrate(CANInterface.URLBitrate(parsedURL))
self._slaveAddr = CANInterface.XCPSlaveCANAddr(0xFFFFFFFF, 0xFFFFFFFF)
def threadFunc(self):
while 1:
if self._terminate.is_set():
if DEBUG:
print(str(time.time()) + ' ELM327IO(): terminate set')
return
setPipelineClear = (not self._pipelineClear.is_set())
setPromptReady = False
linesRead = self._port.read(4096).translate(
None, b'\0').splitlines(keepends=True)
if len(linesRead) > 0:
if len(self._lines) > 0:
self._lines[-1] += linesRead[0]
del linesRead[0]
for lineRead in linesRead:
self._lines.append(lineRead)
if self._lines[-1] == self._PROMPT:
if DEBUG:
print(str(time.time()) + ' promptReady.set()')
# Manage the promptReady Event; it's set if and only if there is an incomplete line consisting of a prompt.
setPromptReady = True
del self._lines[-1]
while self._lines:
rawLine = self._lines.popleft()
if self._EOL in rawLine:
line = rawLine.strip(self._EOL)
# Is it empty?
if len(line) == 0:
pass
# Does it contain non-hex characters?
elif any(x for x in line
if x not in b'0123456789ABCDEF'):
# Command response or a packet received with errors
PutDiscard(self._cmdResp, line)
else:
# Must be a valid received frame
if len(line) % 2 == 1:
idLen = 3
mask = 0
else:
idLen = 8
mask = 0x80000000
if len(line) >= idLen:
ident = int(line[0:idLen], 16)
data = binascii.unhexlify(line[idLen:])
packet = CANInterface.Packet(
ident | mask, data)
PutDiscard(self._receive, packet)
else:
# Too short to be valid
PutDiscard(self._cmdResp, line)
else:
if rawLine == self._PROMPT:
if DEBUG:
print(str(time.time()) + ' promptReady.set()')
# Manage the promptReady Event; it's set if and only if there is an incomplete line consisting of a prompt.
setPromptReady = True
else:
self._lines.appendleft(rawLine)
break
if self._timeToSend < time.time() and not self._transmit.empty():
self._port.write(self._transmit.get_nowait())
self._promptReady.clear()
self._timeToSend = time.time() + self._ELM_RECOVERY_TIME
setPromptReady = False
setPipelineClear = False
if setPromptReady:
self._promptReady.set()
if setPipelineClear and self._transmit.empty():
self._pipelineClear.set()
parser.add_argument('-w', help="Warn if slave returns out of range for any parameter", dest="warnNotFound", action="store_true", default=False)
args = parser.parse_args()
config.loadConfigs(args.configFiles)
BoardTypes.SetupBoardTypes()
try:
boardType = BoardTypes.types[args.targetType]
except KeyError:
print('Could not find board type ' + str(args.targetType))
sys.exit(1)
paramSpec = json.loads(args.paramSpecFile.read())
maxAttempts = 10
with CANInterface.MakeInterface(args.deviceURI) as interface:
targetSlaves = boardType.SlaveListFromIdxArg(args.targetID)
# If needed, ask the user to pick a slave from the list
if len(targetSlaves) == 0:
slaves = boardType.GetSlaves(interface)
for i in range(0, len(slaves)):
print(str(i) + ': ' + slaves[i][0].description() + ', ID ' + str(slaves[i][1]))
index = int(input('Slave: '))
if index >= len(slaves):
exit
targetSlaves = [slaves[index]]
for targetSlave in targetSlaves:
outFile=OpenOutFile(args.outputFile, targetSlave[1])
if targetSlave[1] != None:
sys.stderr.write('Connecting to target addr ' + targetSlave[0].description() + ', ID ' + str(targetSlave[1]) + '\n')
parser.add_argument('size', help='word size', type=int, choices=[1, 2, 4])
parser.add_argument('words',
help='number of words to read',
type=hexInt,
default=1)
args = parser.parse_args()
if args.size == 1:
uploadDelegate = UploadDelegate8()
elif args.size == 2:
uploadDelegate = UploadDelegate16()
elif args.size == 4:
uploadDelegate = UploadDelegate32()
try:
with CANInterface.MakeInterface(args.deviceURI) as interface:
slave = CANInterface.XCPSlaveCANAddr(args.commandId, args.responseId)
interface.connect(slave)
connection = XCPConnection.Connection(interface, readTimeout,
writeTimeout)
for address in range(args.address, args.address + args.words):
pointer = XCPConnection.Pointer(address, args.extension)
print(uploadDelegate.upload(connection, pointer))
connection.close()
except (OSError, CANInterface.ConnectFailed):
try:
interface.close()
except NameError:
pass