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702fa251 | 1 | ## |
50bd5d25 | 2 | ## This file is part of the libsigrokdecode project. |
702fa251 | 3 | ## |
e20f455c | 4 | ## Copyright (C) 2012-2013 Uwe Hermann <uwe@hermann-uwe.de> |
702fa251 UH |
5 | ## |
6 | ## This program is free software; you can redistribute it and/or modify | |
7 | ## it under the terms of the GNU General Public License as published by | |
8 | ## the Free Software Foundation; either version 2 of the License, or | |
9 | ## (at your option) any later version. | |
10 | ## | |
11 | ## This program is distributed in the hope that it will be useful, | |
12 | ## but WITHOUT ANY WARRANTY; without even the implied warranty of | |
13 | ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
14 | ## GNU General Public License for more details. | |
15 | ## | |
16 | ## You should have received a copy of the GNU General Public License | |
17 | ## along with this program; if not, write to the Free Software | |
18 | ## Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA | |
19 | ## | |
20 | ||
21 | # CAN protocol decoder | |
22 | ||
23 | import sigrokdecode as srd | |
24 | ||
25 | class Decoder(srd.Decoder): | |
26 | api_version = 1 | |
27 | id = 'can' | |
28 | name = 'CAN' | |
9e1437a0 | 29 | longname = 'Controller Area Network' |
702fa251 UH |
30 | desc = 'Field bus protocol for distributed realtime control.' |
31 | license = 'gplv2+' | |
32 | inputs = ['logic'] | |
33 | outputs = ['can'] | |
34 | probes = [ | |
35 | {'id': 'can_rx', 'name': 'CAN RX', 'desc': 'CAN bus line'}, | |
36 | ] | |
37 | optional_probes = [] | |
38 | options = { | |
39 | 'bitrate': ['Bitrate', 1000000], # 1Mbit/s | |
40 | 'sample_point': ['Sample point', 70], # 70% | |
41 | } | |
42 | annotations = [ | |
74c9bb3c UH |
43 | ['Data', 'CAN payload data'], |
44 | ['SOF', 'Start of frame'], | |
45 | ['EOF', 'End of frame'], | |
46 | ['ID', 'Identifier'], | |
47 | ['Ext. ID', 'Extended identifier'], | |
48 | ['Full ID', 'Full identifier'], | |
49 | ['IDE', 'Identifier extension bit'], | |
50 | ['Reserved bit', 'Reserved bit 0 and 1'], | |
51 | ['RTR', 'Remote transmission request'], | |
52 | ['SRR', 'Substitute remote request'], | |
53 | ['DLC', 'Data length count'], | |
54 | ['CRC sequence', 'CRC sequence'], | |
55 | ['CRC delimiter', 'CRC delimiter'], | |
56 | ['ACK slot', 'ACK slot'], | |
57 | ['ACK delimiter', 'ACK delimiter'], | |
58 | ['Stuff bit', 'Stuff bit'], | |
702fa251 UH |
59 | ['Warnings', 'Human-readable warnings'], |
60 | ] | |
61 | ||
62 | def __init__(self, **kwargs): | |
f372d597 | 63 | self.samplerate = None |
702fa251 UH |
64 | self.reset_variables() |
65 | ||
f372d597 | 66 | def start(self): |
be465111 BV |
67 | # self.out_proto = self.register(srd.OUTPUT_PYTHON) |
68 | self.out_ann = self.register(srd.OUTPUT_ANN) | |
702fa251 | 69 | |
f372d597 BV |
70 | def metadata(self, key, value): |
71 | if key == srd.SRD_CONF_SAMPLERATE: | |
72 | self.samplerate = value | |
73 | self.bit_width = float(self.samplerate) / float(self.options['bitrate']) | |
74 | self.bitpos = (self.bit_width / 100.0) * self.options['sample_point'] | |
702fa251 | 75 | |
4b1813b4 UH |
76 | # Generic helper for CAN bit annotations. |
77 | def putg(self, ss, es, data): | |
78 | left, right = int(self.bitpos), int(self.bit_width - self.bitpos) | |
79 | self.put(ss - left, es + right, self.out_ann, data) | |
80 | ||
81 | # Single-CAN-bit annotation using the current samplenum. | |
e20f455c | 82 | def putx(self, data): |
4b1813b4 UH |
83 | self.putg(self.samplenum, self.samplenum, data) |
84 | ||
85 | # Single-CAN-bit annotation using the samplenum of CAN bit 12. | |
86 | def put12(self, data): | |
87 | self.putg(self.ss_bit12, self.ss_bit12, data) | |
88 | ||
89 | # Multi-CAN-bit annotation from self.ss_block to current samplenum. | |
90 | def putb(self, data): | |
91 | self.putg(self.ss_block, self.samplenum, data) | |
e20f455c | 92 | |
702fa251 UH |
93 | def reset_variables(self): |
94 | self.state = 'IDLE' | |
95 | self.sof = self.frame_type = self.dlc = None | |
96 | self.rawbits = [] # All bits, including stuff bits | |
97 | self.bits = [] # Only actual CAN frame bits (no stuff bits) | |
98 | self.curbit = 0 # Current bit of CAN frame (bit 0 == SOF) | |
99 | self.last_databit = 999 # Positive value that bitnum+x will never match | |
4b1813b4 UH |
100 | self.ss_block = None |
101 | self.ss_bit12 = None | |
102 | self.ss_databytebits = [] | |
702fa251 UH |
103 | |
104 | # Return True if we reached the desired bit position, False otherwise. | |
105 | def reached_bit(self, bitnum): | |
106 | bitpos = int(self.sof + (self.bit_width * bitnum) + self.bitpos) | |
107 | if self.samplenum >= bitpos: | |
108 | return True | |
109 | return False | |
110 | ||
111 | def is_stuff_bit(self): | |
112 | # CAN uses NRZ encoding and bit stuffing. | |
113 | # After 5 identical bits, a stuff bit of opposite value is added. | |
114 | last_6_bits = self.rawbits[-6:] | |
115 | if last_6_bits not in ([0, 0, 0, 0, 0, 1], [1, 1, 1, 1, 1, 0]): | |
116 | return False | |
117 | ||
118 | # Stuff bit. Keep it in self.rawbits, but drop it from self.bits. | |
74c9bb3c UH |
119 | self.putx([15, ['Stuff bit: %d' % self.rawbits[-1], |
120 | 'SB: %d' % self.rawbits[-1], 'SB']]) | |
702fa251 UH |
121 | self.bits.pop() # Drop last bit. |
122 | return True | |
123 | ||
124 | def is_valid_crc(self, crc_bits): | |
125 | return True # TODO | |
126 | ||
127 | def decode_error_frame(self, bits): | |
128 | pass # TODO | |
129 | ||
130 | def decode_overload_frame(self, bits): | |
131 | pass # TODO | |
132 | ||
133 | # Both standard and extended frames end with CRC, CRC delimiter, ACK, | |
134 | # ACK delimiter, and EOF fields. Handle them in a common function. | |
135 | # Returns True if the frame ended (EOF), False otherwise. | |
136 | def decode_frame_end(self, can_rx, bitnum): | |
137 | ||
4b1813b4 UH |
138 | # Remember start of CRC sequence (see below). |
139 | if bitnum == (self.last_databit + 1): | |
140 | self.ss_block = self.samplenum | |
141 | ||
702fa251 | 142 | # CRC sequence (15 bits) |
4b1813b4 | 143 | elif bitnum == (self.last_databit + 15): |
702fa251 UH |
144 | x = self.last_databit + 1 |
145 | crc_bits = self.bits[x:x + 15 + 1] | |
146 | self.crc = int(''.join(str(d) for d in crc_bits), 2) | |
74c9bb3c UH |
147 | self.putb([11, ['CRC sequence: 0x%04x' % self.crc, |
148 | 'CRC: 0x%04x' % self.crc, 'CRC']]) | |
702fa251 | 149 | if not self.is_valid_crc(crc_bits): |
74c9bb3c | 150 | self.putb([16, ['CRC is invalid']]) |
702fa251 UH |
151 | |
152 | # CRC delimiter bit (recessive) | |
153 | elif bitnum == (self.last_databit + 16): | |
74c9bb3c UH |
154 | self.putx([12, ['CRC delimiter: %d' % can_rx, |
155 | 'CRC d: %d' % can_rx, 'CRC d']]) | |
702fa251 UH |
156 | |
157 | # ACK slot bit (dominant: ACK, recessive: NACK) | |
158 | elif bitnum == (self.last_databit + 17): | |
159 | ack = 'ACK' if can_rx == 0 else 'NACK' | |
74c9bb3c | 160 | self.putx([13, ['ACK slot: %s' % ack, 'ACK s: %s' % ack, 'ACK s']]) |
702fa251 UH |
161 | |
162 | # ACK delimiter bit (recessive) | |
163 | elif bitnum == (self.last_databit + 18): | |
74c9bb3c UH |
164 | self.putx([14, ['ACK delimiter: %d' % can_rx, |
165 | 'ACK d: %d' % can_rx, 'ACK d']]) | |
702fa251 | 166 | |
4b1813b4 UH |
167 | # Remember start of EOF (see below). |
168 | elif bitnum == (self.last_databit + 19): | |
169 | self.ss_block = self.samplenum | |
170 | ||
702fa251 UH |
171 | # End of frame (EOF), 7 recessive bits |
172 | elif bitnum == (self.last_databit + 25): | |
74c9bb3c | 173 | self.putb([2, ['End of frame', 'EOF', 'E']]) |
702fa251 UH |
174 | self.reset_variables() |
175 | return True | |
176 | ||
177 | return False | |
178 | ||
179 | # Returns True if the frame ended (EOF), False otherwise. | |
180 | def decode_standard_frame(self, can_rx, bitnum): | |
181 | ||
182 | # Bit 14: RB0 (reserved bit) | |
183 | # Has to be sent dominant, but receivers should accept recessive too. | |
184 | if bitnum == 14: | |
74c9bb3c | 185 | self.putx([7, ['Reserved bit 0: %d' % can_rx, |
534ae912 | 186 | 'RB0: %d' % can_rx, 'RB0']]) |
702fa251 UH |
187 | |
188 | # Bit 12: Remote transmission request (RTR) bit | |
189 | # Data frame: dominant, remote frame: recessive | |
190 | # Remote frames do not contain a data field. | |
191 | rtr = 'remote' if self.bits[12] == 1 else 'data' | |
74c9bb3c | 192 | self.put12([8, ['Remote transmission request: %s frame' % rtr, |
534ae912 | 193 | 'RTR: %s frame' % rtr, 'RTR']]) |
4b1813b4 UH |
194 | |
195 | # Remember start of DLC (see below). | |
196 | elif bitnum == 15: | |
197 | self.ss_block = self.samplenum | |
702fa251 UH |
198 | |
199 | # Bits 15-18: Data length code (DLC), in number of bytes (0-8). | |
200 | elif bitnum == 18: | |
201 | self.dlc = int(''.join(str(d) for d in self.bits[15:18 + 1]), 2) | |
74c9bb3c UH |
202 | self.putb([10, ['Data length code: %d' % self.dlc, |
203 | 'DLC: %d' % self.dlc, 'DLC']]) | |
702fa251 UH |
204 | self.last_databit = 18 + (self.dlc * 8) |
205 | ||
4b1813b4 UH |
206 | # Remember all databyte bits, except the very last one. |
207 | elif bitnum in range(19, self.last_databit): | |
208 | self.ss_databytebits.append(self.samplenum) | |
209 | ||
702fa251 UH |
210 | # Bits 19-X: Data field (0-8 bytes, depending on DLC) |
211 | # The bits within a data byte are transferred MSB-first. | |
212 | elif bitnum == self.last_databit: | |
4b1813b4 | 213 | self.ss_databytebits.append(self.samplenum) # Last databyte bit. |
702fa251 UH |
214 | for i in range(self.dlc): |
215 | x = 18 + (8 * i) + 1 | |
216 | b = int(''.join(str(d) for d in self.bits[x:x + 8]), 2) | |
4b1813b4 UH |
217 | ss = self.ss_databytebits[i * 8] |
218 | es = self.ss_databytebits[((i + 1) * 8) - 1] | |
534ae912 UH |
219 | self.putg(ss, es, [0, ['Data byte %d: 0x%02x' % (i, b), |
220 | 'DB %d: 0x%02x' % (i, b), 'DB']]) | |
4b1813b4 | 221 | self.ss_databytebits = [] |
702fa251 UH |
222 | |
223 | elif bitnum > self.last_databit: | |
224 | return self.decode_frame_end(can_rx, bitnum) | |
225 | ||
226 | return False | |
227 | ||
228 | # Returns True if the frame ended (EOF), False otherwise. | |
229 | def decode_extended_frame(self, can_rx, bitnum): | |
230 | ||
4b1813b4 UH |
231 | # Remember start of EID (see below). |
232 | if bitnum == 14: | |
233 | self.ss_block = self.samplenum | |
234 | ||
702fa251 | 235 | # Bits 14-31: Extended identifier (EID[17..0]) |
4b1813b4 | 236 | elif bitnum == 31: |
702fa251 | 237 | self.eid = int(''.join(str(d) for d in self.bits[14:]), 2) |
534ae912 | 238 | s = '%d (0x%x)' % (self.eid, self.eid) |
74c9bb3c | 239 | self.putb([4, ['Extended Identifier: %s' % s, |
534ae912 | 240 | 'Extended ID: %s' % s, 'Extended ID', 'EID']]) |
702fa251 UH |
241 | |
242 | self.fullid = self.id << 18 | self.eid | |
534ae912 | 243 | s = '%d (0x%x)' % (self.fullid, self.fullid) |
74c9bb3c | 244 | self.putb([5, ['Full Identifier: %s' % s, 'Full ID: %s' % s, |
534ae912 | 245 | 'Full ID', 'FID']]) |
702fa251 UH |
246 | |
247 | # Bit 12: Substitute remote request (SRR) bit | |
74c9bb3c | 248 | self.put12([9, ['Substitute remote request: %d' % self.bits[12], |
534ae912 | 249 | 'SRR: %d' % self.bits[12], 'SRR']]) |
702fa251 UH |
250 | |
251 | # Bit 32: Remote transmission request (RTR) bit | |
252 | # Data frame: dominant, remote frame: recessive | |
253 | # Remote frames do not contain a data field. | |
254 | if bitnum == 32: | |
255 | rtr = 'remote' if can_rx == 1 else 'data' | |
74c9bb3c | 256 | self.putx([8, ['Remote transmission request: %s frame' % rtr, |
534ae912 | 257 | 'RTR: %s frame' % rtr, 'RTR']]) |
702fa251 UH |
258 | |
259 | # Bit 33: RB1 (reserved bit) | |
260 | elif bitnum == 33: | |
74c9bb3c | 261 | self.putx([7, ['Reserved bit 1: %d' % can_rx, |
534ae912 | 262 | 'RB1: %d' % can_rx, 'RB1']]) |
702fa251 UH |
263 | |
264 | # Bit 34: RB0 (reserved bit) | |
265 | elif bitnum == 34: | |
74c9bb3c | 266 | self.putx([7, ['Reserved bit 0: %d' % can_rx, |
534ae912 | 267 | 'RB0: %d' % can_rx, 'RB0']]) |
702fa251 | 268 | |
4b1813b4 UH |
269 | # Remember start of DLC (see below). |
270 | elif bitnum == 35: | |
271 | self.ss_block = self.samplenum | |
272 | ||
702fa251 UH |
273 | # Bits 35-38: Data length code (DLC), in number of bytes (0-8). |
274 | elif bitnum == 38: | |
275 | self.dlc = int(''.join(str(d) for d in self.bits[35:38 + 1]), 2) | |
74c9bb3c UH |
276 | self.putb([10, ['Data length code: %d' % self.dlc, |
277 | 'DLC: %d' % self.dlc, 'DLC']]) | |
702fa251 UH |
278 | self.last_databit = 38 + (self.dlc * 8) |
279 | ||
4b1813b4 UH |
280 | # Remember all databyte bits, except the very last one. |
281 | elif bitnum in range(39, self.last_databit): | |
282 | self.ss_databytebits.append(self.samplenum) | |
283 | ||
702fa251 UH |
284 | # Bits 39-X: Data field (0-8 bytes, depending on DLC) |
285 | # The bits within a data byte are transferred MSB-first. | |
286 | elif bitnum == self.last_databit: | |
4b1813b4 | 287 | self.ss_databytebits.append(self.samplenum) # Last databyte bit. |
702fa251 UH |
288 | for i in range(self.dlc): |
289 | x = 38 + (8 * i) + 1 | |
290 | b = int(''.join(str(d) for d in self.bits[x:x + 8]), 2) | |
4b1813b4 UH |
291 | ss = self.ss_databytebits[i * 8] |
292 | es = self.ss_databytebits[((i + 1) * 8) - 1] | |
534ae912 UH |
293 | self.putg(ss, es, [0, ['Data byte %d: 0x%02x' % (i, b), |
294 | 'DB %d: 0x%02x' % (i, b), 'DB']]) | |
4b1813b4 | 295 | self.ss_databytebits = [] |
702fa251 UH |
296 | |
297 | elif bitnum > self.last_databit: | |
298 | return self.decode_frame_end(can_rx, bitnum) | |
299 | ||
300 | return False | |
301 | ||
302 | def handle_bit(self, can_rx): | |
303 | self.rawbits.append(can_rx) | |
304 | self.bits.append(can_rx) | |
305 | ||
306 | # Get the index of the current CAN frame bit (without stuff bits). | |
307 | bitnum = len(self.bits) - 1 | |
308 | ||
309 | # For debugging. | |
e20f455c UH |
310 | # self.putx([0, ['Bit %d (CAN bit %d): %d' % \ |
311 | # (self.curbit, bitnum, can_rx)]]) | |
702fa251 UH |
312 | |
313 | # If this is a stuff bit, remove it from self.bits and ignore it. | |
314 | if self.is_stuff_bit(): | |
315 | self.curbit += 1 # Increase self.curbit (bitnum is not affected). | |
316 | return | |
317 | ||
318 | # Bit 0: Start of frame (SOF) bit | |
319 | if bitnum == 0: | |
320 | if can_rx == 0: | |
74c9bb3c | 321 | self.putx([1, ['Start of frame', 'SOF', 'S']]) |
702fa251 | 322 | else: |
74c9bb3c | 323 | self.putx([16, ['Start of frame (SOF) must be a dominant bit']]) |
702fa251 | 324 | |
4b1813b4 UH |
325 | # Remember start of ID (see below). |
326 | elif bitnum == 1: | |
327 | self.ss_block = self.samplenum | |
328 | ||
702fa251 UH |
329 | # Bits 1-11: Identifier (ID[10..0]) |
330 | # The bits ID[10..4] must NOT be all recessive. | |
331 | elif bitnum == 11: | |
332 | self.id = int(''.join(str(d) for d in self.bits[1:]), 2) | |
534ae912 | 333 | s = '%d (0x%x)' % (self.id, self.id), |
74c9bb3c | 334 | self.putb([3, ['Identifier: %s' % s, 'ID: %s' % s, 'ID']]) |
702fa251 UH |
335 | |
336 | # RTR or SRR bit, depending on frame type (gets handled later). | |
337 | elif bitnum == 12: | |
4b1813b4 UH |
338 | # self.putx([0, ['RTR/SRR: %d' % can_rx]]) # Debug only. |
339 | self.ss_bit12 = self.samplenum | |
702fa251 UH |
340 | |
341 | # Bit 13: Identifier extension (IDE) bit | |
342 | # Standard frame: dominant, extended frame: recessive | |
343 | elif bitnum == 13: | |
344 | ide = self.frame_type = 'standard' if can_rx == 0 else 'extended' | |
74c9bb3c | 345 | self.putx([6, ['Identifier extension bit: %s frame' % ide, |
534ae912 | 346 | 'IDE: %s frame' % ide, 'IDE']]) |
702fa251 UH |
347 | |
348 | # Bits 14-X: Frame-type dependent, passed to the resp. handlers. | |
349 | elif bitnum >= 14: | |
350 | if self.frame_type == 'standard': | |
351 | done = self.decode_standard_frame(can_rx, bitnum) | |
352 | else: | |
353 | done = self.decode_extended_frame(can_rx, bitnum) | |
354 | ||
355 | # The handlers return True if a frame ended (EOF). | |
356 | if done: | |
357 | return | |
358 | ||
359 | # After a frame there are 3 intermission bits (recessive). | |
360 | # After these bits, the bus is considered free. | |
361 | ||
362 | self.curbit += 1 | |
363 | ||
364 | def decode(self, ss, es, data): | |
f372d597 BV |
365 | if self.samplerate is None: |
366 | raise Exception("Cannot decode without samplerate.") | |
702fa251 UH |
367 | for (self.samplenum, pins) in data: |
368 | ||
369 | (can_rx,) = pins | |
370 | ||
371 | # State machine. | |
372 | if self.state == 'IDLE': | |
373 | # Wait for a dominant state (logic 0) on the bus. | |
374 | if can_rx == 1: | |
375 | continue | |
376 | self.sof = self.samplenum | |
702fa251 UH |
377 | self.state = 'GET BITS' |
378 | elif self.state == 'GET BITS': | |
379 | # Wait until we're in the correct bit/sampling position. | |
380 | if not self.reached_bit(self.curbit): | |
381 | continue | |
382 | self.handle_bit(can_rx) | |
383 | else: | |
384 | raise Exception("Invalid state: %s" % self.state) | |
385 |