X-Git-Url: https://sigrok.org/gitweb/?p=libsigrokdecode.git;a=blobdiff_plain;f=decoders%2Fcan%2Fpd.py;h=8817097b50e48cef770c031fe2f0efcb7113def9;hp=bcc4361e7b64e950b34b77a754090516968ddd3a;hb=HEAD;hpb=6a15597a7b3f901b566b7bfc8c484a14e0fb6a11 diff --git a/decoders/can/pd.py b/decoders/can/pd.py index bcc4361..fcd13e6 100644 --- a/decoders/can/pd.py +++ b/decoders/can/pd.py @@ -2,6 +2,7 @@ ## This file is part of the libsigrokdecode project. ## ## Copyright (C) 2012-2013 Uwe Hermann +## Copyright (C) 2019 Stephan Thiele ## ## This program is free software; you can redistribute it and/or modify ## it under the terms of the GNU General Public License as published by @@ -14,14 +15,20 @@ ## GNU General Public License for more details. ## ## You should have received a copy of the GNU General Public License -## along with this program; if not, write to the Free Software -## Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +## along with this program; if not, see . ## +from common.srdhelper import bitpack_msb import sigrokdecode as srd +class SamplerateError(Exception): + pass + +def dlc2len(dlc): + return [0, 1, 2, 3, 4, 5, 6, 7, 8, 12, 16, 20, 24, 32, 48, 64][dlc] + class Decoder(srd.Decoder): - api_version = 1 + api_version = 3 id = 'can' name = 'CAN' longname = 'Controller Area Network' @@ -29,15 +36,17 @@ class Decoder(srd.Decoder): license = 'gplv2+' inputs = ['logic'] outputs = ['can'] + tags = ['Automotive'] channels = ( {'id': 'can_rx', 'name': 'CAN RX', 'desc': 'CAN bus line'}, ) options = ( - {'id': 'bitrate', 'desc': 'Bitrate (bits/s)', 'default': 1000000}, + {'id': 'nominal_bitrate', 'desc': 'Nominal bitrate (bits/s)', 'default': 1000000}, + {'id': 'fast_bitrate', 'desc': 'Fast bitrate (bits/s)', 'default': 2000000}, {'id': 'sample_point', 'desc': 'Sample point (%)', 'default': 70.0}, ) annotations = ( - ('data', 'CAN payload data'), + ('data', 'Payload data'), ('sof', 'Start of frame'), ('eof', 'End of frame'), ('id', 'Identifier'), @@ -53,26 +62,45 @@ class Decoder(srd.Decoder): ('ack-slot', 'ACK slot'), ('ack-delimiter', 'ACK delimiter'), ('stuff-bit', 'Stuff bit'), - ('warnings', 'Human-readable warnings'), + ('warning', 'Warning'), + ('bit', 'Bit'), ) + annotation_rows = ( + ('bits', 'Bits', (15, 17)), + ('fields', 'Fields', tuple(range(15))), + ('warnings', 'Warnings', (16,)), + ) + + def __init__(self): + self.reset() - def __init__(self, **kwargs): + def reset(self): self.samplerate = None self.reset_variables() def start(self): - # self.out_python = self.register(srd.OUTPUT_PYTHON) self.out_ann = self.register(srd.OUTPUT_ANN) + self.out_python = self.register(srd.OUTPUT_PYTHON) + + def set_bit_rate(self, bitrate): + self.bit_width = float(self.samplerate) / float(bitrate) + self.sample_point = (self.bit_width / 100.0) * self.options['sample_point'] + + def set_nominal_bitrate(self): + self.set_bit_rate(self.options['nominal_bitrate']) + + def set_fast_bitrate(self): + self.set_bit_rate(self.options['fast_bitrate']) def metadata(self, key, value): if key == srd.SRD_CONF_SAMPLERATE: self.samplerate = value - self.bit_width = float(self.samplerate) / float(self.options['bitrate']) - self.bitpos = (self.bit_width / 100.0) * self.options['sample_point'] + self.bit_width = float(self.samplerate) / float(self.options['nominal_bitrate']) + self.sample_point = (self.bit_width / 100.0) * self.options['sample_point'] # Generic helper for CAN bit annotations. def putg(self, ss, es, data): - left, right = int(self.bitpos), int(self.bit_width - self.bitpos) + left, right = int(self.sample_point), int(self.bit_width - self.sample_point) self.put(ss - left, es + right, self.out_ann, data) # Single-CAN-bit annotation using the current samplenum. @@ -83,10 +111,17 @@ class Decoder(srd.Decoder): def put12(self, data): self.putg(self.ss_bit12, self.ss_bit12, data) + # Single-CAN-bit annotation using the samplenum of CAN bit 32. + def put32(self, data): + self.putg(self.ss_bit32, self.ss_bit32, data) + # Multi-CAN-bit annotation from self.ss_block to current samplenum. def putb(self, data): self.putg(self.ss_block, self.samplenum, data) + def putpy(self, data): + self.put(self.ss_packet, self.es_packet, self.out_python, data) + def reset_variables(self): self.state = 'IDLE' self.sof = self.frame_type = self.dlc = None @@ -96,25 +131,40 @@ class Decoder(srd.Decoder): self.last_databit = 999 # Positive value that bitnum+x will never match self.ss_block = None self.ss_bit12 = None + self.ss_bit32 = None self.ss_databytebits = [] - - # Return True if we reached the desired bit position, False otherwise. - def reached_bit(self, bitnum): - bitpos = int(self.sof + (self.bit_width * bitnum) + self.bitpos) - if self.samplenum >= bitpos: - return True - return False + self.frame_bytes = [] + self.rtr_type = None + self.fd = False + self.rtr = None + + # Poor man's clock synchronization. Use signal edges which change to + # dominant state in rather simple ways. This naive approach is neither + # aware of the SYNC phase's width nor the specific location of the edge, + # but improves the decoder's reliability when the input signal's bitrate + # does not exactly match the nominal rate. + def dom_edge_seen(self, force = False): + self.dom_edge_snum = self.samplenum + self.dom_edge_bcount = self.curbit + + # Determine the position of the next desired bit's sample point. + def get_sample_point(self, bitnum): + samplenum = self.dom_edge_snum + samplenum += self.bit_width * (bitnum - self.dom_edge_bcount) + samplenum += self.sample_point + return int(samplenum) def is_stuff_bit(self): # CAN uses NRZ encoding and bit stuffing. # After 5 identical bits, a stuff bit of opposite value is added. + # But not in the CRC delimiter, ACK, and end of frame fields. + if len(self.bits) > self.last_databit + 17: + return False last_6_bits = self.rawbits[-6:] if last_6_bits not in ([0, 0, 0, 0, 0, 1], [1, 1, 1, 1, 1, 0]): return False # Stuff bit. Keep it in self.rawbits, but drop it from self.bits. - self.putx([15, ['Stuff bit: %d' % self.rawbits[-1], - 'SB: %d' % self.rawbits[-1], 'SB']]) self.bits.pop() # Drop last bit. return True @@ -135,39 +185,67 @@ class Decoder(srd.Decoder): # Remember start of CRC sequence (see below). if bitnum == (self.last_databit + 1): self.ss_block = self.samplenum + if self.fd: + if dlc2len(self.dlc) < 16: + self.crc_len = 27 # 17 + SBC + stuff bits + else: + self.crc_len = 32 # 21 + SBC + stuff bits + else: + self.crc_len = 15 + + # CRC sequence (15 bits, 17 bits or 21 bits) + elif bitnum == (self.last_databit + self.crc_len): + if self.fd: + if dlc2len(self.dlc) < 16: + crc_type = "CRC-17" + else: + crc_type = "CRC-21" + else: + crc_type = "CRC-15" - # CRC sequence (15 bits) - elif bitnum == (self.last_databit + 15): x = self.last_databit + 1 - crc_bits = self.bits[x:x + 15 + 1] - self.crc = int(''.join(str(d) for d in crc_bits), 2) - self.putb([11, ['CRC sequence: 0x%04x' % self.crc, - 'CRC: 0x%04x' % self.crc, 'CRC']]) + crc_bits = self.bits[x:x + self.crc_len + 1] + self.crc = bitpack_msb(crc_bits) + self.putb([11, ['%s sequence: 0x%04x' % (crc_type, self.crc), + '%s: 0x%04x' % (crc_type, self.crc), '%s' % crc_type]]) if not self.is_valid_crc(crc_bits): self.putb([16, ['CRC is invalid']]) # CRC delimiter bit (recessive) - elif bitnum == (self.last_databit + 16): + elif bitnum == (self.last_databit + self.crc_len + 1): self.putx([12, ['CRC delimiter: %d' % can_rx, 'CRC d: %d' % can_rx, 'CRC d']]) + if can_rx != 1: + self.putx([16, ['CRC delimiter must be a recessive bit']]) + + if self.fd: + self.set_nominal_bitrate() # ACK slot bit (dominant: ACK, recessive: NACK) - elif bitnum == (self.last_databit + 17): + elif bitnum == (self.last_databit + self.crc_len + 2): ack = 'ACK' if can_rx == 0 else 'NACK' self.putx([13, ['ACK slot: %s' % ack, 'ACK s: %s' % ack, 'ACK s']]) # ACK delimiter bit (recessive) - elif bitnum == (self.last_databit + 18): + elif bitnum == (self.last_databit + self.crc_len + 3): self.putx([14, ['ACK delimiter: %d' % can_rx, 'ACK d: %d' % can_rx, 'ACK d']]) + if can_rx != 1: + self.putx([16, ['ACK delimiter must be a recessive bit']]) # Remember start of EOF (see below). - elif bitnum == (self.last_databit + 19): + elif bitnum == (self.last_databit + self.crc_len + 4): self.ss_block = self.samplenum # End of frame (EOF), 7 recessive bits - elif bitnum == (self.last_databit + 25): + elif bitnum == (self.last_databit + self.crc_len + 10): self.putb([2, ['End of frame', 'EOF', 'E']]) + if self.rawbits[-7:] != [1, 1, 1, 1, 1, 1, 1]: + self.putb([16, ['End of frame (EOF) must be 7 recessive bits']]) + self.es_packet = self.samplenum + py_data = tuple([self.frame_type, self.fullid, self.rtr_type, + self.dlc, self.frame_bytes]) + self.putpy(py_data) self.reset_variables() return True @@ -176,41 +254,66 @@ class Decoder(srd.Decoder): # Returns True if the frame ended (EOF), False otherwise. def decode_standard_frame(self, can_rx, bitnum): - # Bit 14: RB0 (reserved bit) - # Has to be sent dominant, but receivers should accept recessive too. + # Bit 14: FDF (Flexible data format) + # Has to be sent dominant when FD frame, has to be sent recessive + # when classic CAN frame. if bitnum == 14: - self.putx([7, ['Reserved bit 0: %d' % can_rx, - 'RB0: %d' % can_rx, 'RB0']]) + self.fd = True if can_rx else False + if self.fd: + self.putx([7, ['Flexible data format: %d' % can_rx, + 'FDF: %d' % can_rx, 'FDF']]) + else: + self.putx([7, ['Reserved bit 0: %d' % can_rx, + 'RB0: %d' % can_rx, 'RB0']]) + + if self.fd: + # Bit 12: Substitute remote request (SRR) bit + self.put12([8, ['Substitute remote request', 'SRR']]) + self.dlc_start = 18 + else: + # Bit 12: Remote transmission request (RTR) bit + # Data frame: dominant, remote frame: recessive + # Remote frames do not contain a data field. + rtr = 'remote' if self.bits[12] == 1 else 'data' + self.put12([8, ['Remote transmission request: %s frame' % rtr, + 'RTR: %s frame' % rtr, 'RTR']]) + self.rtr_type = rtr + self.dlc_start = 15 + + if bitnum == 15 and self.fd: + self.putx([7, ['Reserved: %d' % can_rx, 'R0: %d' % can_rx, 'R0']]) - # Bit 12: Remote transmission request (RTR) bit - # Data frame: dominant, remote frame: recessive - # Remote frames do not contain a data field. - rtr = 'remote' if self.bits[12] == 1 else 'data' - self.put12([8, ['Remote transmission request: %s frame' % rtr, - 'RTR: %s frame' % rtr, 'RTR']]) + if bitnum == 16 and self.fd: + self.putx([7, ['Bit rate switch: %d' % can_rx, 'BRS: %d' % can_rx, 'BRS']]) + + if bitnum == 17 and self.fd: + self.putx([7, ['Error state indicator: %d' % can_rx, 'ESI: %d' % can_rx, 'ESI']]) # Remember start of DLC (see below). - elif bitnum == 15: + elif bitnum == self.dlc_start: self.ss_block = self.samplenum # Bits 15-18: Data length code (DLC), in number of bytes (0-8). - elif bitnum == 18: - self.dlc = int(''.join(str(d) for d in self.bits[15:18 + 1]), 2) + elif bitnum == self.dlc_start + 3: + self.dlc = bitpack_msb(self.bits[self.dlc_start:self.dlc_start + 4]) self.putb([10, ['Data length code: %d' % self.dlc, 'DLC: %d' % self.dlc, 'DLC']]) - self.last_databit = 18 + (self.dlc * 8) + self.last_databit = self.dlc_start + 3 + (dlc2len(self.dlc) * 8) + if self.dlc > 8 and not self.fd: + self.putb([16, ['Data length code (DLC) > 8 is not allowed']]) # Remember all databyte bits, except the very last one. - elif bitnum in range(19, self.last_databit): + elif bitnum in range(self.dlc_start + 4, self.last_databit): self.ss_databytebits.append(self.samplenum) # Bits 19-X: Data field (0-8 bytes, depending on DLC) # The bits within a data byte are transferred MSB-first. elif bitnum == self.last_databit: self.ss_databytebits.append(self.samplenum) # Last databyte bit. - for i in range(self.dlc): - x = 18 + (8 * i) + 1 - b = int(''.join(str(d) for d in self.bits[x:x + 8]), 2) + for i in range(dlc2len(self.dlc)): + x = self.dlc_start + 4 + (8 * i) + b = bitpack_msb(self.bits[x:x + 8]) + self.frame_bytes.append(b) ss = self.ss_databytebits[i * 8] es = self.ss_databytebits[((i + 1) * 8) - 1] self.putg(ss, es, [0, ['Data byte %d: 0x%02x' % (i, b), @@ -228,15 +331,17 @@ class Decoder(srd.Decoder): # Remember start of EID (see below). if bitnum == 14: self.ss_block = self.samplenum + self.fd = False + self.dlc_start = 35 # Bits 14-31: Extended identifier (EID[17..0]) elif bitnum == 31: - self.eid = int(''.join(str(d) for d in self.bits[14:]), 2) + self.eid = bitpack_msb(self.bits[14:]) s = '%d (0x%x)' % (self.eid, self.eid) self.putb([4, ['Extended Identifier: %s' % s, 'Extended ID: %s' % s, 'Extended ID', 'EID']]) - self.fullid = self.id << 18 | self.eid + self.fullid = self.ident << 18 | self.eid s = '%d (0x%x)' % (self.fullid, self.fullid) self.putb([5, ['Full Identifier: %s' % s, 'Full ID: %s' % s, 'Full ID', 'FID']]) @@ -248,43 +353,67 @@ class Decoder(srd.Decoder): # Bit 32: Remote transmission request (RTR) bit # Data frame: dominant, remote frame: recessive # Remote frames do not contain a data field. + + # Remember start of RTR (see below). if bitnum == 32: - rtr = 'remote' if can_rx == 1 else 'data' - self.putx([8, ['Remote transmission request: %s frame' % rtr, - 'RTR: %s frame' % rtr, 'RTR']]) + self.ss_bit32 = self.samplenum + self.rtr = can_rx + + if not self.fd: + rtr = 'remote' if can_rx == 1 else 'data' + self.putx([8, ['Remote transmission request: %s frame' % rtr, + 'RTR: %s frame' % rtr, 'RTR']]) + self.rtr_type = rtr # Bit 33: RB1 (reserved bit) elif bitnum == 33: - self.putx([7, ['Reserved bit 1: %d' % can_rx, - 'RB1: %d' % can_rx, 'RB1']]) + self.fd = True if can_rx else False + if self.fd: + self.dlc_start = 37 + self.putx([7, ['Flexible data format: %d' % can_rx, + 'FDF: %d' % can_rx, 'FDF']]) + self.put32([7, ['Reserved bit 1: %d' % self.rtr, + 'RB1: %d' % self.rtr, 'RB1']]) + else: + self.putx([7, ['Reserved bit 1: %d' % can_rx, + 'RB1: %d' % can_rx, 'RB1']]) # Bit 34: RB0 (reserved bit) elif bitnum == 34: self.putx([7, ['Reserved bit 0: %d' % can_rx, 'RB0: %d' % can_rx, 'RB0']]) + elif bitnum == 35 and self.fd: + self.putx([7, ['Bit rate switch: %d' % can_rx, + 'BRS: %d' % can_rx, 'BRS']]) + + elif bitnum == 36 and self.fd: + self.putx([7, ['Error state indicator: %d' % can_rx, + 'ESI: %d' % can_rx, 'ESI']]) + # Remember start of DLC (see below). - elif bitnum == 35: + elif bitnum == self.dlc_start: self.ss_block = self.samplenum # Bits 35-38: Data length code (DLC), in number of bytes (0-8). - elif bitnum == 38: - self.dlc = int(''.join(str(d) for d in self.bits[35:38 + 1]), 2) + elif bitnum == self.dlc_start + 3: + self.dlc = bitpack_msb(self.bits[self.dlc_start:self.dlc_start + 4]) self.putb([10, ['Data length code: %d' % self.dlc, 'DLC: %d' % self.dlc, 'DLC']]) - self.last_databit = 38 + (self.dlc * 8) + self.last_databit = self.dlc_start + 3 + (dlc2len(self.dlc) * 8) # Remember all databyte bits, except the very last one. - elif bitnum in range(39, self.last_databit): + elif bitnum in range(self.dlc_start + 4, self.last_databit): self.ss_databytebits.append(self.samplenum) # Bits 39-X: Data field (0-8 bytes, depending on DLC) # The bits within a data byte are transferred MSB-first. elif bitnum == self.last_databit: self.ss_databytebits.append(self.samplenum) # Last databyte bit. - for i in range(self.dlc): - x = 38 + (8 * i) + 1 - b = int(''.join(str(d) for d in self.bits[x:x + 8]), 2) + for i in range(dlc2len(self.dlc)): + x = self.dlc_start + 4 + (8 * i) + b = bitpack_msb(self.bits[x:x + 8]) + self.frame_bytes.append(b) ss = self.ss_databytebits[i * 8] es = self.ss_databytebits[((i + 1) * 8) - 1] self.putg(ss, es, [0, ['Data byte %d: 0x%02x' % (i, b), @@ -303,20 +432,25 @@ class Decoder(srd.Decoder): # Get the index of the current CAN frame bit (without stuff bits). bitnum = len(self.bits) - 1 - # For debugging. - # self.putx([0, ['Bit %d (CAN bit %d): %d' % \ - # (self.curbit, bitnum, can_rx)]]) + if self.fd and can_rx: + if bitnum == 16 and self.frame_type == 'standard' \ + or bitnum == 35 and self.frame_type == 'extended': + self.dom_edge_seen(force=True) + self.set_fast_bitrate() # If this is a stuff bit, remove it from self.bits and ignore it. if self.is_stuff_bit(): + self.putx([15, [str(can_rx)]]) self.curbit += 1 # Increase self.curbit (bitnum is not affected). return + else: + self.putx([17, [str(can_rx)]]) # Bit 0: Start of frame (SOF) bit if bitnum == 0: - if can_rx == 0: - self.putx([1, ['Start of frame', 'SOF', 'S']]) - else: + self.ss_packet = self.samplenum + self.putx([1, ['Start of frame', 'SOF', 'S']]) + if can_rx != 0: self.putx([16, ['Start of frame (SOF) must be a dominant bit']]) # Remember start of ID (see below). @@ -326,9 +460,14 @@ class Decoder(srd.Decoder): # Bits 1-11: Identifier (ID[10..0]) # The bits ID[10..4] must NOT be all recessive. elif bitnum == 11: - self.id = int(''.join(str(d) for d in self.bits[1:]), 2) - s = '%d (0x%x)' % (self.id, self.id), + # BEWARE! Don't clobber the decoder's .id field which is + # part of its boiler plate! + self.ident = bitpack_msb(self.bits[1:]) + self.fullid = self.ident + s = '%d (0x%x)' % (self.ident, self.ident), self.putb([3, ['Identifier: %s' % s, 'ID: %s' % s, 'ID']]) + if (self.ident & 0x7f0) == 0x7f0: + self.putb([16, ['Identifier bits 10..4 must not be all recessive']]) # RTR or SRR bit, depending on frame type (gets handled later). elif bitnum == 12: @@ -358,25 +497,23 @@ class Decoder(srd.Decoder): self.curbit += 1 - def decode(self, ss, es, data): - if self.samplerate is None: - raise Exception("Cannot decode without samplerate.") - for (self.samplenum, pins) in data: - - (can_rx,) = pins + def decode(self): + if not self.samplerate: + raise SamplerateError('Cannot decode without samplerate.') + while True: # State machine. if self.state == 'IDLE': # Wait for a dominant state (logic 0) on the bus. - if can_rx == 1: - continue + (can_rx,) = self.wait({0: 'l'}) self.sof = self.samplenum + self.dom_edge_seen(force = True) self.state = 'GET BITS' elif self.state == 'GET BITS': # Wait until we're in the correct bit/sampling position. - if not self.reached_bit(self.curbit): - continue - self.handle_bit(can_rx) - else: - raise Exception("Invalid state: %s" % self.state) - + pos = self.get_sample_point(self.curbit) + (can_rx,) = self.wait([{'skip': pos - self.samplenum}, {0: 'f'}]) + if self.matched[1]: + self.dom_edge_seen() + if self.matched[0]: + self.handle_bit(can_rx)