Kenneth Dunlop / Mbed 2 deprecated Ken_CAN_test

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Dependencies:   mbed

Ken_CAN_test.cpp@2:11339018dda6, 2022-06-15 (annotated)

Committer:
kendunlop
Date:
Wed Jun 15 08:48:18 2022 +0000
Revision:
2:11339018dda6
Parent:
1:19d183cf2689
Child:
3:79133dcea836
First iteration of timer function.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
kendunlop 1:19d183cf2689 1 //This program was created by Ken 8th June 2022 to test the CAN output of a CAN Gateway.
kendunlop 1:19d183cf2689 2 #define kMajorVersion 0
kendunlop 1:19d183cf2689 3 #define kMinorVersion 5
kendunlop 1:19d183cf2689 4
kendunlop 1:19d183cf2689 5 #include "mbed.h" //Including mbed libraries. This should be all it needs to use the Mbed and CAN.
kendunlop 1:19d183cf2689 6 #include <string> //This is needed to make text strings work
kendunlop 1:19d183cf2689 7 #include <stdio.h>
kendunlop 1:19d183cf2689 8 #include <ctype.h> //For 'is digit' condition
kendunlop 1:19d183cf2689 9 #include <sstream> //This is used to convert an integer to hex
kendunlop 2:11339018dda6 10 #include <time.h> //To measure how long a process took? Includes clock_t and CLOCKS_PER_SEC
kendunlop 1:19d183cf2689 11
kendunlop 1:19d183cf2689 12 RawSerial pc(USBTX, USBRX); // USB UART Terminal. Is needed for 'pc.printf' functions to work.
kendunlop 1:19d183cf2689 13 CAN CanBus(p9, p10); //CANBus to use pins 9 and 10. This defines CanBus so other 'CanBus' lines will work.
kendunlop 2:11339018dda6 14 //CAN CanBus2(p29, p30); //CANBus2 for recieving to use pins 29 and 30. This defines CanBus so other 'CanBus' lines will work.
kendunlop 1:19d183cf2689 15 CANMessage messageIn;
kendunlop 1:19d183cf2689 16
kendunlop 1:19d183cf2689 17 //Define a CAN message to send
kendunlop 1:19d183cf2689 18 CANMessage messageOut1;
kendunlop 1:19d183cf2689 19
kendunlop 1:19d183cf2689 20 //Set messageOutText to a default message so it's defined.
kendunlop 1:19d183cf2689 21 string messageOutText = "3AF 8 01 AA BB CC DD EE FF 99";
kendunlop 1:19d183cf2689 22 string part = "";
kendunlop 1:19d183cf2689 23 int partincrement = 0;
kendunlop 1:19d183cf2689 24 int incrementer = 0;
kendunlop 1:19d183cf2689 25 int CANCount = 0;
kendunlop 1:19d183cf2689 26 int spamon = 0;
kendunlop 1:19d183cf2689 27 int spamcount = 0;
kendunlop 2:11339018dda6 28 int spamstarttime = 0;
kendunlop 2:11339018dda6 29 int spamendtime = 0;
kendunlop 1:19d183cf2689 30
kendunlop 2:11339018dda6 31 //A function to deal with each CAN message part (e.g.: 301, 8, 01, 02...)
kendunlop 1:19d183cf2689 32 void dealwithpart(void)
kendunlop 1:19d183cf2689 33 {
kendunlop 1:19d183cf2689 34 int hextotal = 0;
kendunlop 1:19d183cf2689 35 partincrement = partincrement + 1;
kendunlop 1:19d183cf2689 36 //pc.printf("Dealing with part %d. (%s)\r\n", partincrement, part);
kendunlop 1:19d183cf2689 37 //int partincrementb = 0;
kendunlop 1:19d183cf2689 38 int textlength = part.length();
kendunlop 1:19d183cf2689 39 //int characterinc = 0;
kendunlop 1:19d183cf2689 40 //pc.printf("That's %d characters long.\r\n", textlength);
kendunlop 1:19d183cf2689 41 for (int i = 0; i < part.size(); i++)
kendunlop 1:19d183cf2689 42 {
kendunlop 1:19d183cf2689 43 //pc.printf("Examining character %d/%d.\r\n", (i+1), textlength);
kendunlop 1:19d183cf2689 44 char individualcharacter = part.at(i);
kendunlop 1:19d183cf2689 45 //pc.printf("That's '%c'.\r\n", individualcharacter);
kendunlop 1:19d183cf2689 46 int numberized = 0;
kendunlop 1:19d183cf2689 47 if(isdigit(individualcharacter))
kendunlop 1:19d183cf2689 48 {
kendunlop 1:19d183cf2689 49 //pc.printf("That character is a digit.\r\n");
kendunlop 1:19d183cf2689 50 numberized = individualcharacter - '0';
kendunlop 1:19d183cf2689 51 //pc.printf("Numberized that's '%d'.\r\n", numberized);
kendunlop 1:19d183cf2689 52 }
kendunlop 1:19d183cf2689 53 else
kendunlop 1:19d183cf2689 54 {
kendunlop 1:19d183cf2689 55 //pc.printf("That character is NOT a digit.\r\n");
kendunlop 1:19d183cf2689 56 int asciivalue = toupper(individualcharacter);
kendunlop 1:19d183cf2689 57 //pc.printf("Ascii value is %d.\r\n", asciivalue);
kendunlop 1:19d183cf2689 58 numberized = asciivalue - 55;
kendunlop 1:19d183cf2689 59 //pc.printf("Hex value is %d.\r\n", numberized);
kendunlop 1:19d183cf2689 60 }
kendunlop 1:19d183cf2689 61 //pc.printf("Eventual numberization is %d.\r\n", numberized);
kendunlop 1:19d183cf2689 62 //pc.printf("Hex total is now %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 63 int powertoraise = part.size() - (i+1);
kendunlop 1:19d183cf2689 64 //pc.printf("Must multiply by 16 to the power of %d.\r\n", powertoraise);
kendunlop 1:19d183cf2689 65 int amounttoadd = numberized;
kendunlop 1:19d183cf2689 66 //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
kendunlop 1:19d183cf2689 67 if (powertoraise == 1)
kendunlop 1:19d183cf2689 68 {
kendunlop 1:19d183cf2689 69 amounttoadd = numberized * 16;
kendunlop 1:19d183cf2689 70 //pc.printf("Multiplying by 16.\r\n");
kendunlop 1:19d183cf2689 71 //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
kendunlop 1:19d183cf2689 72 }
kendunlop 1:19d183cf2689 73 if (powertoraise == 2)
kendunlop 1:19d183cf2689 74 {
kendunlop 1:19d183cf2689 75 amounttoadd = numberized * 256;
kendunlop 1:19d183cf2689 76 //pc.printf("Multiplying by 256.\r\n");
kendunlop 1:19d183cf2689 77 }
kendunlop 1:19d183cf2689 78 //pc.printf("Amount to add is therefore %d.\r\n", amounttoadd);
kendunlop 1:19d183cf2689 79 hextotal = hextotal + amounttoadd;
kendunlop 1:19d183cf2689 80 //pc.printf("hextotal so far for this part is therefore %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 81 }
kendunlop 1:19d183cf2689 82 //pc.printf("hextotal for whole part is therefore %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 83 //pc.printf("Need to convert that into true hex.\r\n");
kendunlop 1:19d183cf2689 84 std::stringstream sstream;
kendunlop 1:19d183cf2689 85 sstream << std::hex << hextotal;
kendunlop 1:19d183cf2689 86 //pc.printf("StringSteam says '%s'.\r\n", sstream.str());
kendunlop 1:19d183cf2689 87 if (partincrement == 1)
kendunlop 1:19d183cf2689 88 {messageOut1.id = hextotal;}
kendunlop 1:19d183cf2689 89 if (partincrement == 2)
kendunlop 1:19d183cf2689 90 {messageOut1.len = hextotal;}
kendunlop 1:19d183cf2689 91 if (partincrement >= 3)
kendunlop 1:19d183cf2689 92 {messageOut1.data[partincrement-3] = hextotal;}
kendunlop 1:19d183cf2689 93 //pc.printf("Part %d complete.\r\n", partincrement);
kendunlop 1:19d183cf2689 94 //pc.printf("--------------------------------------\r\n");
kendunlop 1:19d183cf2689 95 }
kendunlop 1:19d183cf2689 96
kendunlop 1:19d183cf2689 97 //An attempted function to get a coherent CAN message from one, uninterrupted string
kendunlop 1:19d183cf2689 98 void getCANfromstring(void)
kendunlop 1:19d183cf2689 99 {
kendunlop 1:19d183cf2689 100 //pc.printf("messageOutText is '%s'\r\n", messageOutText);
kendunlop 1:19d183cf2689 101 remove(messageOutText.begin(), messageOutText.end(), ' '); //Remove the spaces from the text to send out so it can be parsed.
kendunlop 1:19d183cf2689 102 //pc.printf("After removing spaces, messageOutText is '%s'\r\n", messageOutText);
kendunlop 1:19d183cf2689 103 string startofstring = messageOutText.substr(0,20); //Take the first 20 characters of the newly-formed string to get a spaceless CAN message.
kendunlop 1:19d183cf2689 104 //pc.printf("String to parse is '%s'.\r\n", startofstring);
kendunlop 1:19d183cf2689 105 partincrement = 0;
kendunlop 1:19d183cf2689 106 part = startofstring.substr(0,3);
kendunlop 1:19d183cf2689 107 dealwithpart();
kendunlop 1:19d183cf2689 108 part = startofstring.substr(3,1);
kendunlop 1:19d183cf2689 109 dealwithpart();
kendunlop 1:19d183cf2689 110 part = startofstring.substr(4,2);
kendunlop 1:19d183cf2689 111 dealwithpart();
kendunlop 1:19d183cf2689 112 part = startofstring.substr(6,2);
kendunlop 1:19d183cf2689 113 dealwithpart();
kendunlop 1:19d183cf2689 114 part = startofstring.substr(8,2);
kendunlop 1:19d183cf2689 115 dealwithpart();
kendunlop 1:19d183cf2689 116 part = startofstring.substr(10,2);
kendunlop 1:19d183cf2689 117 dealwithpart();
kendunlop 1:19d183cf2689 118 part = startofstring.substr(12,2);
kendunlop 1:19d183cf2689 119 dealwithpart();
kendunlop 1:19d183cf2689 120 part = startofstring.substr(14,2);
kendunlop 1:19d183cf2689 121 dealwithpart();
kendunlop 1:19d183cf2689 122 part = startofstring.substr(16,2);
kendunlop 1:19d183cf2689 123 dealwithpart();
kendunlop 1:19d183cf2689 124 part = startofstring.substr(18,2);
kendunlop 1:19d183cf2689 125 dealwithpart();
kendunlop 1:19d183cf2689 126 }
kendunlop 1:19d183cf2689 127
kendunlop 1:19d183cf2689 128 void defineCANmessage(void)
kendunlop 1:19d183cf2689 129 {
kendunlop 1:19d183cf2689 130 //pc.printf("Defining CAN message 1.\r\n");
kendunlop 1:19d183cf2689 131 //messageOut1.format = CANStandard;
kendunlop 1:19d183cf2689 132 //messageOut1.id = 0x301;
kendunlop 1:19d183cf2689 133 //messageOut1.len = 8;
kendunlop 1:19d183cf2689 134 //messageOut1.data[0] = 0x06;
kendunlop 1:19d183cf2689 135 //messageOut1.data[1] = 0x3f;
kendunlop 1:19d183cf2689 136 //messageOut1.data[2] = 0xb2;
kendunlop 1:19d183cf2689 137 //messageOut1.data[3] = 0x29;
kendunlop 1:19d183cf2689 138 //messageOut1.data[4] = 0x19;
kendunlop 1:19d183cf2689 139 //messageOut1.data[5] = 0x97;
kendunlop 1:19d183cf2689 140 //messageOut1.data[6] = 0x67;
kendunlop 1:19d183cf2689 141 //messageOut1.data[7] = 0x37;
kendunlop 1:19d183cf2689 142 }
kendunlop 1:19d183cf2689 143
kendunlop 1:19d183cf2689 144 void printMessageOut (void){
kendunlop 1:19d183cf2689 145 //This function will print out whatever the CAN bus is sending out. Can't be used constantly as it sends '000 8 00 00 00 00 00 00 00 00' all the time.
kendunlop 1:19d183cf2689 146 pc.printf("Message OUT: %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\r\n",messageOut1.id,messageOut1.len,messageOut1.data[0],messageOut1.data[1],messageOut1.data[2],messageOut1.data[3],messageOut1.data[4],messageOut1.data[5],messageOut1.data[6],messageOut1.data[7]);
kendunlop 1:19d183cf2689 147 }
kendunlop 1:19d183cf2689 148
kendunlop 1:19d183cf2689 149 void printMessageIn (void){
kendunlop 1:19d183cf2689 150 //This function will print out whatever the CAN bus is receiving.
kendunlop 1:19d183cf2689 151 pc.printf("Message IN: %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\r\n",messageIn.id,messageIn.len,messageIn.data[0],messageIn.data[1],messageIn.data[2],messageIn.data[3],messageIn.data[4],messageIn.data[5],messageIn.data[6],messageIn.data[7]);
kendunlop 1:19d183cf2689 152 }
kendunlop 0:7a500ebaa7a6 153
kendunlop 0:7a500ebaa7a6 154 //The 'main' function will run as soon as the program starts.
kendunlop 0:7a500ebaa7a6 155 int main()
kendunlop 1:19d183cf2689 156 {
kendunlop 1:19d183cf2689 157 pc.baud(115200); // serial port at 115200
kendunlop 1:19d183cf2689 158 CanBus.frequency(500 * 1000); // CAN bus at 500k
kendunlop 1:19d183cf2689 159 CanBus.reset(); // clear any bus errors
kendunlop 1:19d183cf2689 160 //NOTE: Print messages must be below this line to work.
kendunlop 1:19d183cf2689 161 pc.printf("------------------------------------------\r\n");
kendunlop 1:19d183cf2689 162 pc.printf("Welcome to Ken CAN test.\r\n");
kendunlop 1:19d183cf2689 163 pc.printf("Setting CAN bus to 500k.\r\n");
kendunlop 1:19d183cf2689 164 pc.printf("Setting serial port to 115200.\r\n");
kendunlop 1:19d183cf2689 165 pc.printf("Using pins 9 and 10.\r\n");
kendunlop 1:19d183cf2689 166 pc.printf("Version %d.%d\r\n",kMajorVersion,kMinorVersion);
kendunlop 1:19d183cf2689 167 pc.printf("Build date %s %s\r\n",__DATE__,__TIME__);
kendunlop 1:19d183cf2689 168 pc.printf("------------------------------------------\r\n");
kendunlop 1:19d183cf2689 169 char c;
kendunlop 1:19d183cf2689 170
kendunlop 1:19d183cf2689 171 //Check for button presses
kendunlop 1:19d183cf2689 172 while (1)
kendunlop 0:7a500ebaa7a6 173 {
kendunlop 1:19d183cf2689 174 if (pc.readable())
kendunlop 1:19d183cf2689 175 {
kendunlop 1:19d183cf2689 176 c = pc.getc();
kendunlop 1:19d183cf2689 177 if ((c != NULL))
kendunlop 1:19d183cf2689 178 {
kendunlop 1:19d183cf2689 179 // When the a key is pressed, define a CAN message and send it.
kendunlop 1:19d183cf2689 180 //pc.printf("A key was pressed! (%c)\r\n", c);
kendunlop 1:19d183cf2689 181 //pc.printf("Will try to send CAN...\r\n");
kendunlop 1:19d183cf2689 182 //defineCANmessage();
kendunlop 1:19d183cf2689 183 messageOutText = "";
kendunlop 1:19d183cf2689 184 if (c == '1')
kendunlop 1:19d183cf2689 185 {messageOutText = "301 8 01 01 01 01 01 01 01 01";}
kendunlop 1:19d183cf2689 186 if (c == '2')
kendunlop 1:19d183cf2689 187 {messageOutText = "302 8 02 02 02 02 02 02 02 02";}
kendunlop 1:19d183cf2689 188 if (c == '3')
kendunlop 2:11339018dda6 189 {messageOutText = "333 8 00 00 00 00 00 00 00 33";}
kendunlop 1:19d183cf2689 190 if (c == '4')
kendunlop 1:19d183cf2689 191 {messageOutText = "304 8 04 04 04 04 04 04 04 04";}
kendunlop 1:19d183cf2689 192 if (c == '5')
kendunlop 1:19d183cf2689 193 {messageOutText = "305 8 05 05 05 05 05 05 05 05";}
kendunlop 1:19d183cf2689 194 if (c == '6')
kendunlop 1:19d183cf2689 195 {messageOutText = "306 8 06 06 06 06 06 06 06 06";}
kendunlop 1:19d183cf2689 196 if (c == '7')
kendunlop 1:19d183cf2689 197 {messageOutText = "307 8 07 07 07 07 07 07 07 07";}
kendunlop 1:19d183cf2689 198 if (c == '8')
kendunlop 1:19d183cf2689 199 {messageOutText = "308 8 08 08 08 08 08 08 08 08";}
kendunlop 1:19d183cf2689 200 if (c == '9')
kendunlop 1:19d183cf2689 201 {messageOutText = "309 8 09 09 09 09 09 09 09 09";}
kendunlop 1:19d183cf2689 202 if (c == 'f')
kendunlop 1:19d183cf2689 203 {messageOutText = "FFF 8 FF FF FF FF FF FF FF FF";}
kendunlop 1:19d183cf2689 204 if (c == 'q')
kendunlop 1:19d183cf2689 205 {pc.printf("Changing CAN bus speed to 125.\r\n");
kendunlop 1:19d183cf2689 206 CanBus.frequency(125 * 1000);} // CAN bus at 125k
kendunlop 1:19d183cf2689 207 if (c == 'w')
kendunlop 1:19d183cf2689 208 {pc.printf("Changing CAN bus speed to 250.\r\n");
kendunlop 1:19d183cf2689 209 CanBus.frequency(250 * 1000);} // CAN bus at 250k
kendunlop 1:19d183cf2689 210 if (c == 'e')
kendunlop 1:19d183cf2689 211 {pc.printf("Changing CAN bus speed to 500.\r\n");
kendunlop 1:19d183cf2689 212 CanBus.frequency(500 * 1000);} // CAN bus at 500k
kendunlop 1:19d183cf2689 213 if (c == 'r')
kendunlop 1:19d183cf2689 214 {pc.printf("Changing CAN bus speed to 1000.\r\n");
kendunlop 1:19d183cf2689 215 CanBus.frequency(1000 * 1000);} // CAN bus at 1000k
kendunlop 1:19d183cf2689 216 if (c == 's')
kendunlop 1:19d183cf2689 217 {
kendunlop 1:19d183cf2689 218 pc.printf("Sending authentic sats message.\r\n");
kendunlop 1:19d183cf2689 219 messageOutText = "301 8 06 3F B2 29 12 97 67 37";
kendunlop 1:19d183cf2689 220 }
kendunlop 1:19d183cf2689 221 if (c == 'i')
kendunlop 1:19d183cf2689 222 {
kendunlop 1:19d183cf2689 223 incrementer = incrementer + 16;
kendunlop 1:19d183cf2689 224 std::stringstream sstream;
kendunlop 1:19d183cf2689 225 sstream << std::hex << incrementer;
kendunlop 1:19d183cf2689 226 string stringsofar = sstream.str();
kendunlop 1:19d183cf2689 227 //pc.printf("Incrementer is now %d.\r\n", incrementer);
kendunlop 1:19d183cf2689 228 //pc.printf("StringStream says '%s'.\r\n", stringsofar);
kendunlop 1:19d183cf2689 229 int length = stringsofar.length();
kendunlop 1:19d183cf2689 230 //pc.printf("Length is %d/16.\r\n", length);
kendunlop 1:19d183cf2689 231 for (int i = 0; i < (16-length); i++)
kendunlop 1:19d183cf2689 232 stringsofar = "0" + stringsofar;
kendunlop 1:19d183cf2689 233 //pc.printf("stringsofar says '%s'.\r\n", stringsofar);
kendunlop 1:19d183cf2689 234 messageOutText = "305 8 " + stringsofar;
kendunlop 1:19d183cf2689 235 //pc.printf("Will try to send '%s'.\r\n", messageOutText);
kendunlop 1:19d183cf2689 236 }
kendunlop 1:19d183cf2689 237 messageOut1.format = CANStandard;
kendunlop 1:19d183cf2689 238 if (c == 'z' and spamon == 0)
kendunlop 1:19d183cf2689 239 {
kendunlop 1:19d183cf2689 240 pc.printf("Starting spam sequence...\r\n");
kendunlop 1:19d183cf2689 241 spamon = 1;
kendunlop 1:19d183cf2689 242 incrementer = 0;
kendunlop 2:11339018dda6 243 spamcount = 0;
kendunlop 2:11339018dda6 244 int spamstarttime = clock();
kendunlop 1:19d183cf2689 245 }
kendunlop 1:19d183cf2689 246 //Pressing 'x' switches off spam mode
kendunlop 1:19d183cf2689 247 if (c == 'x' and spamon == 1)
kendunlop 1:19d183cf2689 248 {
kendunlop 1:19d183cf2689 249 spamon = 0;
kendunlop 2:11339018dda6 250 pc.printf("Ending spam mode. Spammed %d times.\r\n", spamcount);
kendunlop 2:11339018dda6 251 int spamendtime = clock();
kendunlop 2:11339018dda6 252 int spamtime = 0;
kendunlop 2:11339018dda6 253 spamtime = spamendtime - spamstarttime;
kendunlop 2:11339018dda6 254 pc.printf("Clock right now is %d.\r\n", (spamtime));
kendunlop 2:11339018dda6 255 int spamspersecond = 0;
kendunlop 2:11339018dda6 256 spamspersecond = (spamcount / spamtime)/CLOCKS_PER_SEC;
kendunlop 2:11339018dda6 257 pc.printf("Spams per second are %d.\r\n", (spamspersecond));
kendunlop 1:19d183cf2689 258 }
kendunlop 1:19d183cf2689 259 if (messageOutText != "")
kendunlop 1:19d183cf2689 260 {
kendunlop 1:19d183cf2689 261 getCANfromstring();
kendunlop 1:19d183cf2689 262 CanBus.write(messageOut1);
kendunlop 1:19d183cf2689 263 if (spamon == 0)
kendunlop 1:19d183cf2689 264 {printMessageOut();}
kendunlop 1:19d183cf2689 265 }
kendunlop 1:19d183cf2689 266 }
kendunlop 1:19d183cf2689 267 }
kendunlop 1:19d183cf2689 268 //If spam mode is on, spam an incrementing CAN message
kendunlop 1:19d183cf2689 269 if (spamon == 1)
kendunlop 1:19d183cf2689 270 {
kendunlop 1:19d183cf2689 271 spamcount ++;
kendunlop 1:19d183cf2689 272 incrementer ++;
kendunlop 1:19d183cf2689 273 std::stringstream sstream;
kendunlop 1:19d183cf2689 274 sstream << std::hex << incrementer;
kendunlop 1:19d183cf2689 275 string stringsofar = sstream.str();
kendunlop 1:19d183cf2689 276 int length = stringsofar.length();
kendunlop 1:19d183cf2689 277 for (int i = 0; i < (16-length); i++)
kendunlop 1:19d183cf2689 278 stringsofar = "0" + stringsofar;
kendunlop 2:11339018dda6 279 messageOutText = "333 8 " + stringsofar;
kendunlop 1:19d183cf2689 280 getCANfromstring();
kendunlop 1:19d183cf2689 281 CanBus.write(messageOut1);
kendunlop 1:19d183cf2689 282 wait(0.01);
kendunlop 1:19d183cf2689 283 }
kendunlop 1:19d183cf2689 284 //Check for CAN messages coming in
kendunlop 1:19d183cf2689 285 if (CanBus.read(messageIn))
kendunlop 1:19d183cf2689 286 {
kendunlop 1:19d183cf2689 287 CANCount ++;
kendunlop 1:19d183cf2689 288 printMessageIn();
kendunlop 1:19d183cf2689 289 }
kendunlop 1:19d183cf2689 290 //Spam out the message as fast as possible
kendunlop 1:19d183cf2689 291 //while (1)
kendunlop 1:19d183cf2689 292 //{
kendunlop 1:19d183cf2689 293 // defineCANmessage();
kendunlop 1:19d183cf2689 294 // CanBus.write(messageOut1);
kendunlop 1:19d183cf2689 295 //}
kendunlop 1:19d183cf2689 296 }
kendunlop 1:19d183cf2689 297 }