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https://github.com/Klipper3d/klipper.git
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65 lines
2.1 KiB
Python
65 lines
2.1 KiB
Python
#!/usr/bin/env python2
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# Tool to query CAN bus uuids
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#
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# Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
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#
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# This file may be distributed under the terms of the GNU GPLv3 license.
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import sys, os, optparse, time
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import can
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CANBUS_ID_ADMIN = 0x3f0
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CMD_QUERY_UNASSIGNED = 0x00
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RESP_NEED_NODEID = 0x20
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CMD_SET_KLIPPER_NODEID = 0x01
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CMD_SET_CANBOOT_NODEID = 0x11
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def query_unassigned(canbus_iface):
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# Open CAN socket
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filters = [{"can_id": CANBUS_ID_ADMIN + 1, "can_mask": 0x7ff,
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"extended": False}]
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bus = can.interface.Bus(channel=canbus_iface, can_filters=filters,
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bustype='socketcan')
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# Send query
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msg = can.Message(arbitration_id=CANBUS_ID_ADMIN,
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data=[CMD_QUERY_UNASSIGNED], is_extended_id=False)
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bus.send(msg)
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# Read responses
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found_ids = {}
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start_time = curtime = time.time()
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while 1:
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tdiff = start_time + 2. - curtime
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if tdiff <= 0.:
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break
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msg = bus.recv(tdiff)
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curtime = time.time()
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if (msg is None or msg.arbitration_id != CANBUS_ID_ADMIN + 1
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or msg.dlc < 7 or msg.data[0] != RESP_NEED_NODEID):
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continue
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uuid = sum([v << ((5-i)*8) for i, v in enumerate(msg.data[1:7])])
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if uuid in found_ids:
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continue
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found_ids[uuid] = 1
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AppNames = {
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CMD_SET_KLIPPER_NODEID: "Klipper",
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CMD_SET_CANBOOT_NODEID: "CanBoot"
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}
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app_id = CMD_SET_KLIPPER_NODEID
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if msg.dlc > 7:
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app_id = msg.data[7]
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app_name = AppNames.get(app_id, "Unknown")
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sys.stdout.write("Found canbus_uuid=%012x, Application: %s\n"
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% (uuid, app_name))
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sys.stdout.write("Total %d uuids found\n" % (len(found_ids,)))
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def main():
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usage = "%prog [options] <can interface>"
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opts = optparse.OptionParser(usage)
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options, args = opts.parse_args()
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if len(args) != 1:
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opts.error("Incorrect number of arguments")
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canbus_iface = args[0]
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query_unassigned(canbus_iface)
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if __name__ == '__main__':
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main()
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