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USB CAN sniffer: works as broadcast listener & can write someth; TODO: add filters

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This commit is contained in:
eddyem 2020-04-11 23:44:03 +03:00
parent cad59256f6
commit a4bb12966c
9 changed files with 235 additions and 45 deletions
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14
F0-nolib/Snippets/printuhex.c Normal file
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@ -0,0 +1,14 @@
// print 32bit unsigned int as hex
void printuhex(uint32_t val){
addtobuf("0x");
uint8_t *ptr = (uint8_t*)&val + 3;
int8_t i, j;
for(i = 0; i < 4; ++i, --ptr){
if(*ptr == 0 && i != 3) continue; // omit leading zeros
for(j = 1; j > -1; --j){
uint8_t half = (*ptr >> (4*j)) & 0x0f;
if(half < 10) bufputchar(half + '0');
else bufputchar(half - 10 + 'a');
}
}
}

90
F0-nolib/usbcdc/can.c
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@ -31,6 +31,7 @@
static CAN_message messages[CAN_INMESSAGE_SIZE];
static uint8_t first_free_idx = 0; // index of first empty cell
static int8_t first_nonfree_idx = -1; // index of first data cell
static uint16_t oldspeed = 100; // speed of last init
static uint16_t CANID = 0xFFFF;
#ifdef EBUG
@ -52,14 +53,14 @@ CAN_status CAN_get_status(){
// push next message into buffer; return 1 if buffer overfull
static int CAN_messagebuf_push(CAN_message *msg){
MSG("Try to push\n");
//MSG("Try to push\n");
if(first_free_idx == first_nonfree_idx) return 1; // no free space
if(first_nonfree_idx < 0) first_nonfree_idx = 0; // first message in empty buffer
memcpy(&messages[first_free_idx++], msg, sizeof(CAN_message));
// need to roll?
if(first_free_idx == CAN_INMESSAGE_SIZE) first_free_idx = 0;
#ifdef EBUG
MSG("1st free: "); usart_putchar('0' + first_free_idx); NL();
//MSG("1st free: "); printu(first_free_idx); NL();
#endif
return 0;
}
@ -68,14 +69,16 @@ static int CAN_messagebuf_push(CAN_message *msg){
CAN_message *CAN_messagebuf_pop(){
if(first_nonfree_idx < 0) return NULL;
#ifdef EBUG
MSG("read from idx "); usart_putchar('0' + first_nonfree_idx); NL();
//MSG("read from idx "); printu(first_nonfree_idx); NL();
#endif
CAN_message *msg = &messages[first_nonfree_idx++];
if(first_nonfree_idx == CAN_INMESSAGE_SIZE) first_nonfree_idx = 0;
if(first_nonfree_idx == first_free_idx){ // buffer is empty - refresh it
first_nonfree_idx = -1;
first_free_idx = 0;
MSG("refresh buffer\n");
#ifdef EBUG
// MSG("refresh buffer\n"); NL();
#endif
}
return msg;
}
@ -91,15 +94,42 @@ uint16_t getCANID(){
return CANID;
}
void CAN_reinit(){
void CAN_reinit(uint16_t speed){
readCANID();
CAN->TSR |= CAN_TSR_ABRQ0 | CAN_TSR_ABRQ1 | CAN_TSR_ABRQ2;
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
CAN_setup();
CAN_setup(speed);
}
void CAN_setup(){
/*
Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
ID: CAN->sFilterRegister[x].FRn[0..15]
MASK: CAN->sFilterRegister[x].FRn[16..31]
FR bits: STID[10:0] RTR IDE EXID[17:15]
LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
IDn: CAN->sFilterRegister[x].FRn[0..15]
IDn+1: CAN->sFilterRegister[x].FRn[16..31]
*/
/*
Can timing: main freq - APB (PLL=48MHz)
segment = 1sync + TBS1 + TBS2, sample point is between TBS1 and TBS2,
so if TBS1=4 and TBS2=3, sum=8, bit sampling freq is 48/8 = 6MHz
-> to get 100kbps we need prescaler=60
250kbps - 24
500kbps - 12
1MBps - 6
*/
// speed - in kbps
void CAN_setup(uint16_t speed){
LED_off(LED1);
if(speed == 0) speed = oldspeed;
else if(speed < 50) speed = 50;
else if(speed > 3000) speed = 3000;
oldspeed = speed;
uint32_t tmout = 16000000;
if(CANID == 0xFFFF) readCANID();
// Configure GPIO: PB8 - CAN_Rx, PB9 - CAN_Tx
@ -115,10 +145,10 @@ void CAN_setup(){
/* (1) Enter CAN init mode to write the configuration */
/* (2) Wait the init mode entering */
/* (3) Exit sleep mode */
/* (4) Loopback mode, set timing to 100kb/s: BS1 = 4, BS2 = 3, prescaler = 60 */
/* (4) Normal mode, set timing to 100kb/s: TBS1 = 4, TBS2 = 3, prescaler = 60 */
/* (5) Leave init mode */
/* (6) Wait the init mode leaving */
/* (7) Enter filter init mode, (16-bit + mask, filter 0 for FIFO 0) */
/* (7) Enter filter init mode, (16-bit + mask, bank 0 for FIFO 0) */
/* (8) Acivate filter 0 for two IDs */
/* (9) Identifier list mode */
/* (10) Set the Id list */
@ -130,20 +160,22 @@ void CAN_setup(){
if(--tmout == 0) break;
}
CAN->MCR &=~ CAN_MCR_SLEEP; /* (3) */
CAN->MCR |= CAN_MCR_ABOM;
CAN->MCR |= CAN_MCR_ABOM; /* allow automatically bus-off */
CAN->BTR |= 2 << 20 | 3 << 16 | 59 << 0; /* (4) */
CAN->BTR |= 2 << 20 | 3 << 16 | (6000/speed) << 0; /* (4) */
CAN->MCR &=~ CAN_MCR_INRQ; /* (5) */
tmout = 16000000;
while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) /* (6) */
{
if(--tmout == 0) break;
}
while((CAN->MSR & CAN_MSR_INAK)==CAN_MSR_INAK) if(--tmout == 0) break; /* (6) */
// accept ALL
CAN->FMR = CAN_FMR_FINIT; /* (7) */
CAN->FA1R = CAN_FA1R_FACT0; /* (8) */
// set to 1 all needed bits of CAN->FFA1R to switch given filters to FIFO1
#if 0
CAN->FM1R = CAN_FM1R_FBM0; /* (9) */
CAN->sFilterRegister[0].FR1 = CANID << 5 | ((BCAST_ID << 5) << 16); /* (10) */
#else
CAN->sFilterRegister[0].FR1 = 0;
#endif
CAN->FMR &=~ CAN_FMR_FINIT; /* (12) */
CAN->IER |= CAN_IER_ERRIE | CAN_IER_FOVIE0 | CAN_IER_FOVIE1; /* (13) */
@ -200,9 +232,8 @@ void can_proc(){
// reset CAN bus
RCC->APB1RSTR |= RCC_APB1RSTR_CANRST;
RCC->APB1RSTR &= ~RCC_APB1RSTR_CANRST;
CAN_setup();
CAN_setup(0);
}
LED_off(LED1);
#if 0
static uint32_t esr, msr, tsr;
uint32_t msr_now = CAN->MSR & 0xf;
@ -212,7 +243,6 @@ void can_proc(){
NL();
}
if((CAN->ESR) != esr){
usart_putchar(((CAN->ESR & CAN_ESR_BOFF) != 0) + '0');
esr = CAN->ESR;
MSG("CAN->ESR: ");
printuhex(esr); NL();
@ -236,8 +266,20 @@ CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id){
if(CAN->TSR & (CAN_TSR_TME)){
mailbox = (CAN->TSR & CAN_TSR_CODE) >> 24;
}else{ // no free mailboxes
#ifdef EBUG
MSG("No free mailboxes"); NL();
#endif
return CAN_BUSY;
}
#ifdef EBUG
MSG("Send data. Len="); printu(len);
SEND(", tagid="); printuhex(target_id);
SEND(", data=");
for(int i = 0; i < len; ++i){
SEND(" "); printuhex(msg[i]);
}
NL();
#endif
CAN_TxMailBox_TypeDef *box = &CAN->sTxMailBox[mailbox];
uint32_t lb = 0, hb = 0;
switch(len){
@ -291,14 +333,16 @@ void can_send_broadcast(){
static void can_process_fifo(uint8_t fifo_num){
if(fifo_num > 1) return;
LED_on(LED1); // Toggle LED1
LED_on(LED1); // Turn on LED1 - message received
CAN_FIFOMailBox_TypeDef *box = &CAN->sFIFOMailBox[fifo_num];
volatile uint32_t *RFxR = (fifo_num) ? &CAN->RF1R : &CAN->RF0R;
MSG("Receive, RDTR=");
/*
MSG("\nReceive, RDTR=");
#ifdef EBUG
printuhex(box->RDTR);
NL();
#endif
*/
// read all
while(*RFxR & CAN_RF0R_FMP0){ // amount of messages pending
// CAN_RDTxR: (16-31) - timestamp, (8-15) - filter match index, (0-3) - data length
@ -307,6 +351,7 @@ static void can_process_fifo(uint8_t fifo_num){
uint8_t *dat = msg.data;
uint8_t len = box->RDTR & 0x7;
msg.length = len;
msg.ID = box->RIR >> 21;
if(len){ // message can be without data
uint32_t hb = box->RDHR, lb = box->RDLR;
switch(len){
@ -338,7 +383,8 @@ static void can_process_fifo(uint8_t fifo_num){
if(CAN_messagebuf_push(&msg)) return; // error: buffer is full, try later
*RFxR |= CAN_RF0R_RFOM0; // release fifo for access to next message
}
if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;
//if(*RFxR & CAN_RF0R_FULL0) *RFxR &= ~CAN_RF0R_FULL0;
*RFxR = 0; // clear FOVR & FULL
}
void cec_can_isr(){

11
F0-nolib/usbcdc/can.h
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@ -41,9 +41,11 @@
// incoming message buffer size
#define CAN_INMESSAGE_SIZE (8)
// CAN message
typedef struct{
uint8_t data[8];
uint8_t length;
uint8_t data[8]; // up to 8 bytes of data
uint8_t length; // data length
uint16_t ID; // ID of receiver
} CAN_message;
typedef enum{
@ -59,9 +61,10 @@ CAN_status CAN_get_status();
void readCANID();
uint16_t getCANID();
void CAN_reinit();
void CAN_setup();
void CAN_reinit(uint16_t speed);
void CAN_setup(uint16_t speed);
CAN_status can_send(uint8_t *msg, uint8_t len, uint16_t target_id);
void can_send_dummy();
void can_send_broadcast();
void can_proc();

19
F0-nolib/usbcdc/main.c
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@ -100,7 +100,7 @@ int main(void){
gpio_setup();
usart_setup();
readCANID();
CAN_setup();
CAN_setup(100);
switchbuff(0);
SEND("Greetings! My address is ");
@ -127,19 +127,24 @@ int main(void){
can_proc();
usb_proc();
if(CAN_get_status() == CAN_FIFO_OVERRUN){
SEND("CAN bus fifo overrun occured!\n"); NL();
switchbuff(3);
SEND("CAN bus fifo overrun occured!\n");
newline(); sendbuf();
}
can_mesg = CAN_messagebuf_pop();
if(can_mesg){ // new data in buff
if(can_mesg && isgood(can_mesg->ID)){ // new data in buff
len = can_mesg->length;
switchbuff(0);
SEND("got message, len: "); usart_putchar('0' + len);
switchbuff(3);
SEND("got message, ID=");
printuhex(can_mesg->ID);
SEND(", len=");
printu(len);
SEND(", data: ");
for(ctr = 0; ctr < len; ++ctr){
printuhex(can_mesg->data[ctr]);
usart_putchar(' ');
SEND(" ");
}
NL();
newline(); sendbuf();
}
if(usartrx()){ // usart1 received data, store in in buffer
usart_getline(&txt);

134
F0-nolib/usbcdc/proto.c
View File

@ -30,6 +30,8 @@
extern volatile uint8_t canerror;
uint16_t Ignore_IDs[IGN_SIZE];
uint8_t IgnSz = 0;
static char buff[UARTBUFSZ+1], *bptr = buff;
static uint8_t blen = 0, USBcmd = 0;
@ -38,7 +40,7 @@ void sendbuf(){
if(blen == 0) return;
*bptr = 0;
if(USBcmd) USB_sendstr(buff);
else{
if(USBcmd != 1){
usart_send(buff);
transmit_tbuf();
}
@ -46,6 +48,7 @@ void sendbuf(){
blen = 0;
}
// 1 - USB, 0 - USART, other number - both
void switchbuff(uint8_t isUSB){
USBcmd = isUSB;
}
@ -158,24 +161,107 @@ char *getnum(char *txt, uint32_t *N){
// send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
void sendCANcommand(char *txt){
TRUE_INLINE void sendCANcommand(char *txt){
SEND("CAN command with arguments:\n");
uint32_t N;
uint16_t ID = 0xffff;
char *n;
uint8_t data[8];
int ctr = -1;
do{
txt = omit_spaces(txt);
n = getnum(txt, &N);
if(txt == n) break;
txt = n;
if(ctr == -1){
if(N > 0x7ff){
SEND("ID should be 11-bit number!");
return;
}
ID = (uint16_t)(N&0x7ff);
SEND("ID="); printuhex(ID); newline();
ctr = 0;
continue;
}
if(ctr > 7){
SEND("ONLY 8 data bytes allowed!");
return;
}
if(N > 0xff){
SEND("Every data portion is a byte!");
return;
}
data[ctr++] = (uint8_t)(N&0xff);
printu(N); SEND(", hex: ");
printuhex(N); newline();
txt = n;
}while(1);
if(*n){
SEND("\nThe rest: ");
SEND("\nUnusefull data: ");
SEND(n);
}
newline();
if(ID == 0xffff){
SEND("NO ID given, send nothing!");
return;
}
sendbuf();
N = 1000000;
while(CAN_BUSY == can_send(data, (uint8_t)ctr, ID)){
if(--N == 0) break;
}
}
TRUE_INLINE void CANini(char *txt){
txt = omit_spaces(txt);
uint32_t N;
char *n = getnum(txt, &N);
if(txt == n){
SEND("No speed given");
return;
}
if(N < 50){
SEND("Lowest speed is 50kbps");
return;
}else if(N > 3000){
SEND("Highest speed is 3000kbps");
return;
}
CAN_reinit((uint16_t)N);
SEND("Reinit CAN bus with speed ");
printu(N); SEND("kbps");
}
TRUE_INLINE void addIGN(char *txt){
if(IgnSz == IGN_SIZE){
MSG("Ignore buffer is full");
return;
}
txt = omit_spaces(txt);
uint32_t N;
char *n = getnum(txt, &N);
if(txt == n){
SEND("No ID given");
return;
}
if(N > 0x7ff){
SEND("ID should be 11-bit number!");
return;
}
Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
SEND("Added ID "); printu(N);
SEND("\nIgn buffer size: "); printu(IgnSz);
}
TRUE_INLINE void print_ign_buf(){
if(IgnSz == 0){
SEND("Ignore buffer is empty");
return;
}
for(int i = 0; i < IgnSz; ++i){
printu(i);
SEND(": ");
printuhex(Ignore_IDs[i]);
newline();
}
}
/**
@ -190,9 +276,19 @@ void cmd_parser(char *txt, uint8_t isUSB){
/*
* parse long commands here
*/
if(_1st == 's' || _1st == 'S'){
switch(_1st){
case 's':
case 'S':
sendCANcommand(txt + 1);
return;
goto eof;
break;
case 'b':
CANini(txt + 1);
goto eof;
break;
case 'a':
addIGN(txt + 1);
goto eof;
}
if(txt[1] != '\n') *txt = '?'; // help for wrong message length
switch(_1st){
@ -205,17 +301,23 @@ void cmd_parser(char *txt, uint8_t isUSB){
case 'C':
can_send_dummy();
break;
case 'd':
IgnSz = 0;
break;
case 'G':
SEND("Can address: ");
printuhex(getCANID());
newline();
break;
case 'I':
CAN_reinit();
CAN_reinit(0);
SEND("Can address: ");
printuhex(getCANID());
newline();
break;
case 'p':
print_ign_buf();
break;
case 'R':
SEND("Soft reset\n");
sendbuf();
@ -238,11 +340,15 @@ void cmd_parser(char *txt, uint8_t isUSB){
break;
default: // help
SEND(
"'a' - add ID to ignore list (max 10 IDs)\n"
"'b' - reinit CAN with given baudrate\n"
"'B' - send broadcast dummy byte\n"
"'C' - send dummy byte over CAN\n"
"'d' - delete ignore list\n"
"'f' - flush UART buffer\n"
"'G' - get CAN address\n"
"'I' - reinit CAN (with new address)\n"
"'p' - print ignore buffer\n"
"'R' - software reset\n"
"'s/S' - send data over CAN: s ID byte0 .. byteN\n"
"'T' - gen time from start (ms)\n"
@ -251,6 +357,8 @@ void cmd_parser(char *txt, uint8_t isUSB){
);
break;
}
eof:
newline();
sendbuf();
}
@ -273,8 +381,9 @@ void printu(uint32_t val){
void printuhex(uint32_t val){
addtobuf("0x");
uint8_t *ptr = (uint8_t*)&val + 3;
int i, j;
int8_t i, j;
for(i = 0; i < 4; ++i, --ptr){
if(*ptr == 0 && i != 3) continue; // omit leading zeros
for(j = 1; j > -1; --j){
uint8_t half = (*ptr >> (4*j)) & 0x0f;
if(half < 10) bufputchar(half + '0');
@ -282,3 +391,10 @@ void printuhex(uint32_t val){
}
}
}
// check Ignore_IDs & return 1 if ID isn't in list
uint8_t isgood(uint16_t ID){
for(int i = 0; i < IgnSz; ++i)
if(Ignore_IDs[i] == ID) return 0;
return 1;
}

6
F0-nolib/usbcdc/proto.h
View File

@ -40,6 +40,10 @@
// newline with buffer sending over USART
#define NL() do{bufputchar('\n'); switchbuff(0); sendbuf();}while(0)
#define IGN_SIZE 10
extern uint16_t Ignore_IDs[IGN_SIZE];
extern uint8_t IgnSz;
void cmd_parser(char *buf, uint8_t isUSB);
void addtobuf(const char *txt);
void bufputchar(char ch);
@ -51,6 +55,8 @@ void switchbuff(uint8_t isUSB);
char *omit_spaces(char *buf);
char *getnum(char *buf, uint32_t *N);
uint8_t isgood(uint16_t ID);
//int strlen(const char *txt);
//void memcpy(void *dest, const void *src, int len);
#endif // __PROTO_H__

2
F0-nolib/usbcdc/usb_defs.h
View File

@ -33,7 +33,7 @@
* Buffers size definition
**/
// !!! when working with CAN bus change USB_BTABLE_SIZE to 768 !!!
#define USB_BTABLE_SIZE 1024
#define USB_BTABLE_SIZE 768
// for USB FS EP0 buffers are from 8 to 64 bytes long (64 for PL2303)
#define USB_EP0_BUFSZ 64
// USB transmit buffer size (64 for PL2303)

2
F0-nolib/usbcdc/usb_lib.c
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@ -357,7 +357,7 @@ int EP_Init(uint8_t number, uint8_t type, uint16_t txsz, uint16_t rxsz, void (*f
if(lastaddr + txsz + rxsz >= USB_BTABLE_SIZE) return 2; // out of btable
USB->EPnR[number] = (type << 9) | (number & USB_EPnR_EA);
USB->EPnR[number] ^= USB_EPnR_STAT_RX | USB_EPnR_STAT_TX_1;
if(rxsz & 1 || rxsz > 992) return 3; // wrong rx buffer size
if(rxsz & 1 || rxsz > 512) return 3; // wrong rx buffer size
uint16_t countrx = 0;
if(rxsz < 64) countrx = rxsz / 2;
else{

BIN
F0-nolib/usbcdc/usbcan.bin
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