Kenneth Dunlop / Mbed 2 deprecated Ken_CAN_test

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Ken_CAN_test.cpp@12:e950feba910d, 2022-07-08 (annotated)

Committer:
kendunlop
Date:
Fri Jul 08 13:04:15 2022 +0000
Revision:
12:e950feba910d
Parent:
11:abd3df435a2b
Child:
13:e3a4abc461f4
New structure used to define CAN expectations. Not using the old table-copying method any more.

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 4:e8e9bc25b1ca 2 #define kMajorVersion 0 //Defines a major and minor version to be shown later in the program.
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 3:79133dcea836 12 RawSerial pc(USBTX, USBRX); // USB UART Terminal, tx, rx. Is needed for 'pc.printf' functions to work.
kendunlop 3:79133dcea836 13
kendunlop 3:79133dcea836 14 // NOTE: Original pins for CAN Bus 1 are 9 and 10.
kendunlop 7:a9150dc1e481 15 CAN CanBus(p9, p10); //CANBus to use pins 9 and 10. This defines CanBus so other 'CanBus' lines will work.
kendunlop 7:a9150dc1e481 16 CAN CanBus2(p30, p29); //CANBus2 for recieving to use pins 30 and 29 (in that order!).
kendunlop 1:19d183cf2689 17 CANMessage messageIn;
kendunlop 1:19d183cf2689 18
kendunlop 1:19d183cf2689 19 //Define a CAN message to send
kendunlop 1:19d183cf2689 20 CANMessage messageOut1;
kendunlop 1:19d183cf2689 21
kendunlop 1:19d183cf2689 22 //Set messageOutText to a default message so it's defined.
kendunlop 5:bf4c6278ca8b 23 string messageOutText = "";
kendunlop 7:a9150dc1e481 24 string messageOutTextWithSpaces = "";
kendunlop 8:6f096b45ca15 25 string buttonPressMessageOutText = "";
kendunlop 1:19d183cf2689 26 string part = "";
kendunlop 1:19d183cf2689 27 int partincrement = 0;
kendunlop 3:79133dcea836 28 __int64 incrementer = 0;
kendunlop 1:19d183cf2689 29 int CANCount = 0;
kendunlop 9:7c27efe30a77 30
kendunlop 4:e8e9bc25b1ca 31 int spamon = 0;
kendunlop 6:2882710e4f1e 32 int idspamon = 0;
kendunlop 8:6f096b45ca15 33 int idscheckedcount = 0;
kendunlop 1:19d183cf2689 34 int spamcount = 0;
kendunlop 3:79133dcea836 35 int totalspamsever = 0;
kendunlop 2:11339018dda6 36 int spamstarttime = 0;
kendunlop 2:11339018dda6 37 int spamendtime = 0;
kendunlop 9:7c27efe30a77 38 int spamsecondstotal = 0;
kendunlop 9:7c27efe30a77 39 int spamspersecond = 0;
kendunlop 10:3e15baff40e7 40 int messagesinpersecond = 0;
kendunlop 9:7c27efe30a77 41
kendunlop 3:79133dcea836 42 int vlistincrementer = 0;
kendunlop 6:2882710e4f1e 43 int idlistincrementer = 0;
kendunlop 6:2882710e4f1e 44 string spampreamble = "333";
kendunlop 7:a9150dc1e481 45 int expected1 = 0;
kendunlop 7:a9150dc1e481 46 int expected2 = 0;
kendunlop 7:a9150dc1e481 47 unsigned char expected3 = 0;
kendunlop 7:a9150dc1e481 48 unsigned char expected4 = 0;
kendunlop 7:a9150dc1e481 49 unsigned char expected5 = 0;
kendunlop 7:a9150dc1e481 50 unsigned char expected6 = 0;
kendunlop 7:a9150dc1e481 51 unsigned char expected7 = 0;
kendunlop 7:a9150dc1e481 52 unsigned char expected8 = 0;
kendunlop 7:a9150dc1e481 53 unsigned char expected9 = 0;
kendunlop 7:a9150dc1e481 54 unsigned char expected10 = 0;
kendunlop 8:6f096b45ca15 55 int expectationwasfulfilled = -1;
kendunlop 8:6f096b45ca15 56 int expectationresolved = 1;
kendunlop 8:6f096b45ca15 57 int expectationtimer = 0;
kendunlop 8:6f096b45ca15 58 int shouldntcomein = 0;
kendunlop 9:7c27efe30a77 59 int goodnoreplies = 0;
kendunlop 9:7c27efe30a77 60 int goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 61 int goodnoreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 62 int CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 63 int CANmatchstreakstartID = 0;
kendunlop 9:7c27efe30a77 64 int unexpectedCANfails = 0;
kendunlop 9:7c27efe30a77 65 int unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 66 int unexpectedCANstreakstartid = 0;
kendunlop 7:a9150dc1e481 67 int failsthistest = 0;
kendunlop 11:abd3df435a2b 68 int failsstreak = 0;
kendunlop 11:abd3df435a2b 69 int failsstreakstart = 0;
kendunlop 11:abd3df435a2b 70 int reportfailsindividually = 0;
kendunlop 8:6f096b45ca15 71 int noreplyfailsthistest = 0;
kendunlop 9:7c27efe30a77 72 int noreplystreak = 0;
kendunlop 9:7c27efe30a77 73 int noreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 74
kendunlop 8:6f096b45ca15 75 int mismatchfailsthistest = 0;
kendunlop 9:7c27efe30a77 76 int matchesthistest = 0;
kendunlop 7:a9150dc1e481 77 int addnewlinetonextmessage = 0;
kendunlop 11:abd3df435a2b 78 int checklaterbytes = 1;
kendunlop 8:6f096b45ca15 79 int aspamisgoing = 0;
kendunlop 8:6f096b45ca15 80 int CANpassthrough = 1;
kendunlop 10:3e15baff40e7 81 int speedspamison = 0;
kendunlop 10:3e15baff40e7 82 int messagesincount = 0;
kendunlop 11:abd3df435a2b 83 int messageinisneeded = 0;
kendunlop 11:abd3df435a2b 84
kendunlop 11:abd3df435a2b 85 int idwasfound = 0;
kendunlop 11:abd3df435a2b 86 int columnidwasfound = 0;
kendunlop 8:6f096b45ca15 87
kendunlop 12:e950feba910d 88 char c = NULL;
kendunlop 12:e950feba910d 89
kendunlop 9:7c27efe30a77 90 int mbedCANbusspeed = 500 * 1000;
kendunlop 9:7c27efe30a77 91 int CANGatewayCANbusspeed = 500 * 1000;
kendunlop 10:3e15baff40e7 92 int listen = 1;
kendunlop 11:abd3df435a2b 93 int testwasaborted = 0;
kendunlop 11:abd3df435a2b 94
kendunlop 11:abd3df435a2b 95 int customentry = 0;
kendunlop 11:abd3df435a2b 96 int normalkeypresses = 1;
kendunlop 12:e950feba910d 97 int tablesmode = 0;
kendunlop 11:abd3df435a2b 98 string customentrystring = "";
kendunlop 11:abd3df435a2b 99 int hextotal = 0;
kendunlop 9:7c27efe30a77 100
kendunlop 12:e950feba910d 101 int numberkeypressed = -1;
kendunlop 12:e950feba910d 102
kendunlop 8:6f096b45ca15 103 //Array of IDs to translate can be overwritten with the 'copyarray'.
kendunlop 8:6f096b45ca15 104 //It's arranged in columns of IDs that are translated to the ID in the next column.
kendunlop 8:6f096b45ca15 105 //NOTE: Array must be a large enough size to contain all ID translations.
kendunlop 11:abd3df435a2b 106 int idsarray[2][8][10] = {};
kendunlop 12:e950feba910d 107 //int copyarray[2][8][10] = {};
kendunlop 8:6f096b45ca15 108 int arrayx = 2;
kendunlop 8:6f096b45ca15 109 int arrayy = 8;
kendunlop 11:abd3df435a2b 110 int arrayz = 10;
kendunlop 12:e950feba910d 111 int x = 0;
kendunlop 12:e950feba910d 112 int y = 0;
kendunlop 12:e950feba910d 113 int z = 0;
kendunlop 12:e950feba910d 114 int totalarraysize = 0;
kendunlop 8:6f096b45ca15 115
kendunlop 9:7c27efe30a77 116 //A function to easily get the total of seconds a spam has taken
kendunlop 9:7c27efe30a77 117 int getspamsecondstotal(void)
kendunlop 9:7c27efe30a77 118 {
kendunlop 9:7c27efe30a77 119 //pc.printf("\r\nHere I'll get the spam seconds total!\r\n");
kendunlop 9:7c27efe30a77 120 //pc.printf("Spam start/end time was %d / %d.\r\n", spamstarttime, spamendtime);
kendunlop 9:7c27efe30a77 121 int spamtickstotal = (spamendtime - spamstarttime);
kendunlop 9:7c27efe30a77 122 //pc.printf("Spam ticks total is %d.\r\n", spamtickstotal);
kendunlop 9:7c27efe30a77 123 //pc.printf("CLOCKS_PER_SEC are %d.\r\n", CLOCKS_PER_SEC);
kendunlop 9:7c27efe30a77 124 //pc.printf("Spamcount this test is %d.\r\n", spamcount);
kendunlop 9:7c27efe30a77 125 spamsecondstotal = ((spamendtime - spamstarttime) / CLOCKS_PER_SEC);
kendunlop 9:7c27efe30a77 126 //pc.printf("Spam seconds total is %d.\r\n", spamsecondstotal);
kendunlop 9:7c27efe30a77 127 spamspersecond = (10000 * spamcount);
kendunlop 10:3e15baff40e7 128 messagesinpersecond = (10000 * messagesincount);
kendunlop 9:7c27efe30a77 129 //pc.printf("Spams biggened x 10,000 is %d.\r\n", spamspersecond);
kendunlop 9:7c27efe30a77 130 spamspersecond = (spamspersecond / spamtickstotal);
kendunlop 10:3e15baff40e7 131 messagesinpersecond = (messagesinpersecond / spamtickstotal);
kendunlop 9:7c27efe30a77 132 //pc.printf("Spams per tick, still biggened, is %d.\r\n", spamspersecond);
kendunlop 9:7c27efe30a77 133 spamspersecond = (spamspersecond * CLOCKS_PER_SEC);
kendunlop 10:3e15baff40e7 134 messagesinpersecond = (messagesinpersecond * CLOCKS_PER_SEC);
kendunlop 9:7c27efe30a77 135 //pc.printf("Spams per second, still biggened, given %d ticks per second, is %d.\r\n", CLOCKS_PER_SEC, spamspersecond);
kendunlop 10:3e15baff40e7 136 spamspersecond = (spamspersecond / 10000);
kendunlop 10:3e15baff40e7 137 messagesinpersecond = (messagesinpersecond / 10000);
kendunlop 9:7c27efe30a77 138 //pc.printf("Spams per second, un-biggened, is %d.\r\n", spamspersecond);
kendunlop 10:3e15baff40e7 139 //pc.printf("\r\nSent %d messages for %d ticks (%d seconds) at %d ticks per second. Messages per second is %d.\r\n", spamcount, spamtickstotal, spamsecondstotal, CLOCKS_PER_SEC, spamspersecond); //Old version of the message
kendunlop 10:3e15baff40e7 140 if (speedspamison == 0)
kendunlop 10:3e15baff40e7 141 {
kendunlop 11:abd3df435a2b 142 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 143 {
kendunlop 11:abd3df435a2b 144 pc.printf("\n");
kendunlop 11:abd3df435a2b 145 }
kendunlop 10:3e15baff40e7 146 pc.printf("\rSent %d messages over %d seconds. Messages per second is %d.\r\n", spamcount, spamsecondstotal, spamspersecond);
kendunlop 10:3e15baff40e7 147 }
kendunlop 9:7c27efe30a77 148 return(spamsecondstotal, spamspersecond);
kendunlop 9:7c27efe30a77 149 }
kendunlop 9:7c27efe30a77 150
kendunlop 12:e950feba910d 151 //A function to get table cells
kendunlop 12:e950feba910d 152 void dealwithtable(int copyarray)
kendunlop 12:e950feba910d 153 {
kendunlop 12:e950feba910d 154 for (int arrayprogress = 0; arrayprogress < totalarraysize; arrayprogress++)
kendunlop 12:e950feba910d 155 {
kendunlop 12:e950feba910d 156 x++;
kendunlop 12:e950feba910d 157 if (x >= arrayx)
kendunlop 12:e950feba910d 158 {
kendunlop 12:e950feba910d 159 x = 0;
kendunlop 12:e950feba910d 160 y++;
kendunlop 12:e950feba910d 161 }
kendunlop 12:e950feba910d 162 if (y >= arrayy)
kendunlop 12:e950feba910d 163 {
kendunlop 12:e950feba910d 164 y = 0;
kendunlop 12:e950feba910d 165 z++;
kendunlop 12:e950feba910d 166 }
kendunlop 12:e950feba910d 167 //int cellcontents = copyarray[x][y][z];
kendunlop 12:e950feba910d 168 //pc.printf("Array progress is %d. Examining %d,%d,%d. It says '%d'.\r\n", arrayprogress, x, y, z, cellcontents);
kendunlop 12:e950feba910d 169 }
kendunlop 12:e950feba910d 170 }
kendunlop 12:e950feba910d 171
kendunlop 12:e950feba910d 172 //Structure for CAN conversion table
kendunlop 12:e950feba910d 173 struct CANconversion {
kendunlop 12:e950feba910d 174 int IDfrom;
kendunlop 12:e950feba910d 175 int IDto;
kendunlop 12:e950feba910d 176 int length;
kendunlop 12:e950feba910d 177 int Data [8];
kendunlop 12:e950feba910d 178 };
kendunlop 12:e950feba910d 179
kendunlop 12:e950feba910d 180 struct CANconversion CANconversionlist[32]; //This defines a list of CANconversion structures, each with its own IDfrom, IDto, length, etc. (E.g.: 'CANconversionlist[0].IDfrom')
kendunlop 12:e950feba910d 181 int CANconversionlistheight = 32;
kendunlop 12:e950feba910d 182
kendunlop 12:e950feba910d 183 //CANconversion CANconversionlist[32] = {}; // Trying to make a list here that contains multiple CANconversion data types.
kendunlop 12:e950feba910d 184
kendunlop 12:e950feba910d 185 //A function to handle key presses in tables mode
kendunlop 12:e950feba910d 186 void tablesmodekeypress(void)
kendunlop 12:e950feba910d 187 {
kendunlop 12:e950feba910d 188 //pc.printf("Key press detected in tables mode!\r\n");
kendunlop 12:e950feba910d 189 if (c >= 48 and c <= 57)
kendunlop 12:e950feba910d 190 {
kendunlop 12:e950feba910d 191 numberkeypressed = c - 48;
kendunlop 12:e950feba910d 192 pc.printf("That's a number key press.('%d')\r\n", numberkeypressed);
kendunlop 12:e950feba910d 193 if (numberkeypressed == 1)
kendunlop 12:e950feba910d 194 {
kendunlop 12:e950feba910d 195 CANconversionlist[0].IDfrom = 0x301;
kendunlop 12:e950feba910d 196 CANconversionlist[0].IDto = 0x401;
kendunlop 12:e950feba910d 197 CANconversionlist[0].length = 0x8;
kendunlop 12:e950feba910d 198 CANconversionlist[0].Data[0] = 0x01;
kendunlop 12:e950feba910d 199 CANconversionlist[0].Data[1] = 0x00;
kendunlop 12:e950feba910d 200 CANconversionlist[0].Data[2] = 0x00;
kendunlop 12:e950feba910d 201 CANconversionlist[0].Data[3] = 0x00;
kendunlop 12:e950feba910d 202 CANconversionlist[0].Data[4] = 0x00;
kendunlop 12:e950feba910d 203 CANconversionlist[0].Data[5] = 0x00;
kendunlop 12:e950feba910d 204 CANconversionlist[0].Data[6] = 0x00;
kendunlop 12:e950feba910d 205 CANconversionlist[0].Data[7] = 0x00;
kendunlop 12:e950feba910d 206
kendunlop 12:e950feba910d 207 CANconversionlist[1].IDfrom = 0x302;
kendunlop 12:e950feba910d 208 CANconversionlist[1].IDto = 0x402;
kendunlop 12:e950feba910d 209 CANconversionlist[1].length = 0x8;
kendunlop 12:e950feba910d 210 CANconversionlist[1].Data[0] = 0x04;
kendunlop 12:e950feba910d 211 CANconversionlist[1].Data[1] = 0x05;
kendunlop 12:e950feba910d 212 CANconversionlist[1].Data[2] = 0x06;
kendunlop 12:e950feba910d 213 CANconversionlist[1].Data[3] = 0x07;
kendunlop 12:e950feba910d 214 CANconversionlist[1].Data[4] = 0x00;
kendunlop 12:e950feba910d 215 CANconversionlist[1].Data[5] = 0x00;
kendunlop 12:e950feba910d 216 CANconversionlist[1].Data[6] = 0x00;
kendunlop 12:e950feba910d 217 CANconversionlist[1].Data[7] = 0x00;
kendunlop 12:e950feba910d 218
kendunlop 12:e950feba910d 219 CANconversionlist[2].IDfrom = 0x303;
kendunlop 12:e950feba910d 220 CANconversionlist[2].IDto = 0x403;
kendunlop 12:e950feba910d 221 CANconversionlist[2].length = 0x8;
kendunlop 12:e950feba910d 222 CANconversionlist[2].Data[0] = 0x03;
kendunlop 12:e950feba910d 223 CANconversionlist[2].Data[1] = 0x04;
kendunlop 12:e950feba910d 224 CANconversionlist[2].Data[2] = 0x05;
kendunlop 12:e950feba910d 225 CANconversionlist[2].Data[3] = 0x00;
kendunlop 12:e950feba910d 226 CANconversionlist[2].Data[4] = 0x00;
kendunlop 12:e950feba910d 227 CANconversionlist[2].Data[5] = 0x00;
kendunlop 12:e950feba910d 228 CANconversionlist[2].Data[6] = 0x00;
kendunlop 12:e950feba910d 229 CANconversionlist[2].Data[7] = 0x00;
kendunlop 12:e950feba910d 230
kendunlop 12:e950feba910d 231 CANconversionlist[3].IDfrom = 0x304;
kendunlop 12:e950feba910d 232 CANconversionlist[3].IDto = 0x404;
kendunlop 12:e950feba910d 233 CANconversionlist[3].length = 0x8;
kendunlop 12:e950feba910d 234 CANconversionlist[3].Data[0] = 0x04;
kendunlop 12:e950feba910d 235 CANconversionlist[3].Data[1] = 0x05;
kendunlop 12:e950feba910d 236 CANconversionlist[3].Data[2] = 0x06;
kendunlop 12:e950feba910d 237 CANconversionlist[3].Data[3] = 0x07;
kendunlop 12:e950feba910d 238 CANconversionlist[3].Data[4] = 0x00;
kendunlop 12:e950feba910d 239 CANconversionlist[3].Data[5] = 0x00;
kendunlop 12:e950feba910d 240 CANconversionlist[3].Data[6] = 0x00;
kendunlop 12:e950feba910d 241 CANconversionlist[3].Data[7] = 0x00;
kendunlop 12:e950feba910d 242
kendunlop 12:e950feba910d 243 CANconversionlist[4].IDfrom = 0x305;
kendunlop 12:e950feba910d 244 CANconversionlist[4].IDto = 0x405;
kendunlop 12:e950feba910d 245 CANconversionlist[4].length = 0x8;
kendunlop 12:e950feba910d 246 CANconversionlist[4].Data[0] = 0x04;
kendunlop 12:e950feba910d 247 CANconversionlist[4].Data[1] = 0x05;
kendunlop 12:e950feba910d 248 CANconversionlist[4].Data[2] = 0x06;
kendunlop 12:e950feba910d 249 CANconversionlist[4].Data[3] = 0x07;
kendunlop 12:e950feba910d 250 CANconversionlist[4].Data[4] = 0x00;
kendunlop 12:e950feba910d 251 CANconversionlist[4].Data[5] = 0x00;
kendunlop 12:e950feba910d 252 CANconversionlist[4].Data[6] = 0x00;
kendunlop 12:e950feba910d 253 CANconversionlist[4].Data[7] = 0x00;
kendunlop 12:e950feba910d 254
kendunlop 12:e950feba910d 255 CANconversionlist[5].IDfrom = 0x306;
kendunlop 12:e950feba910d 256 CANconversionlist[5].IDto = 0x406;
kendunlop 12:e950feba910d 257 CANconversionlist[5].length = 0x8;
kendunlop 12:e950feba910d 258 CANconversionlist[5].Data[0] = 0x02;
kendunlop 12:e950feba910d 259 CANconversionlist[5].Data[1] = 0x03;
kendunlop 12:e950feba910d 260 CANconversionlist[5].Data[2] = 0x00;
kendunlop 12:e950feba910d 261 CANconversionlist[5].Data[3] = 0x00;
kendunlop 12:e950feba910d 262 CANconversionlist[5].Data[4] = 0x00;
kendunlop 12:e950feba910d 263 CANconversionlist[5].Data[5] = 0x00;
kendunlop 12:e950feba910d 264 CANconversionlist[5].Data[6] = 0x00;
kendunlop 12:e950feba910d 265 CANconversionlist[5].Data[7] = 0x00;
kendunlop 12:e950feba910d 266
kendunlop 12:e950feba910d 267 CANconversionlist[6].IDfrom = 0x308;
kendunlop 12:e950feba910d 268 CANconversionlist[6].IDto = 0x407;
kendunlop 12:e950feba910d 269 CANconversionlist[6].length = 0x8;
kendunlop 12:e950feba910d 270 CANconversionlist[6].Data[0] = 0x00;
kendunlop 12:e950feba910d 271 CANconversionlist[6].Data[1] = 0x00;
kendunlop 12:e950feba910d 272 CANconversionlist[6].Data[2] = 0x00;
kendunlop 12:e950feba910d 273 CANconversionlist[6].Data[3] = 0x00;
kendunlop 12:e950feba910d 274 CANconversionlist[6].Data[4] = 0x00;
kendunlop 12:e950feba910d 275 CANconversionlist[6].Data[5] = 0x00;
kendunlop 12:e950feba910d 276 CANconversionlist[6].Data[6] = 0x00;
kendunlop 12:e950feba910d 277 CANconversionlist[6].Data[7] = 0x00;
kendunlop 12:e950feba910d 278
kendunlop 12:e950feba910d 279 CANconversionlist[7].IDfrom = 0x309;
kendunlop 12:e950feba910d 280 CANconversionlist[7].IDto = 0x408;
kendunlop 12:e950feba910d 281 CANconversionlist[7].length = 0x8;
kendunlop 12:e950feba910d 282 CANconversionlist[7].Data[0] = 0x06;
kendunlop 12:e950feba910d 283 CANconversionlist[7].Data[1] = 0x07;
kendunlop 12:e950feba910d 284 CANconversionlist[7].Data[2] = 0x08;
kendunlop 12:e950feba910d 285 CANconversionlist[7].Data[3] = 0x00;
kendunlop 12:e950feba910d 286 CANconversionlist[7].Data[4] = 0x00;
kendunlop 12:e950feba910d 287 CANconversionlist[7].Data[5] = 0x00;
kendunlop 12:e950feba910d 288 CANconversionlist[7].Data[6] = 0x00;
kendunlop 12:e950feba910d 289 CANconversionlist[7].Data[7] = 0x00;
kendunlop 12:e950feba910d 290
kendunlop 12:e950feba910d 291 CANconversionlistheight = 8;
kendunlop 12:e950feba910d 292 }
kendunlop 12:e950feba910d 293 if (numberkeypressed == 2)
kendunlop 12:e950feba910d 294 {
kendunlop 12:e950feba910d 295 CANconversionlist[0].IDfrom = 0x301;
kendunlop 12:e950feba910d 296 CANconversionlist[0].IDto = 0x301;
kendunlop 12:e950feba910d 297 CANconversionlist[0].length = 0x8;
kendunlop 12:e950feba910d 298 CANconversionlist[0].Data[0] = 0x08;
kendunlop 12:e950feba910d 299 CANconversionlist[0].Data[1] = 0x00;
kendunlop 12:e950feba910d 300 CANconversionlist[0].Data[2] = 0x00;
kendunlop 12:e950feba910d 301 CANconversionlist[0].Data[3] = 0x00;
kendunlop 12:e950feba910d 302 CANconversionlist[0].Data[4] = 0x00;
kendunlop 12:e950feba910d 303 CANconversionlist[0].Data[5] = 0x00;
kendunlop 12:e950feba910d 304 CANconversionlist[0].Data[6] = 0x00;
kendunlop 12:e950feba910d 305 CANconversionlist[0].Data[7] = 0x00;
kendunlop 12:e950feba910d 306
kendunlop 12:e950feba910d 307 CANconversionlist[1].IDfrom = 0x302;
kendunlop 12:e950feba910d 308 CANconversionlist[1].IDto = 0x302;
kendunlop 12:e950feba910d 309 CANconversionlist[1].length = 0x8;
kendunlop 12:e950feba910d 310 CANconversionlist[1].Data[0] = 0x06;
kendunlop 12:e950feba910d 311 CANconversionlist[1].Data[1] = 0x07;
kendunlop 12:e950feba910d 312 CANconversionlist[1].Data[2] = 0x00;
kendunlop 12:e950feba910d 313 CANconversionlist[1].Data[3] = 0x00;
kendunlop 12:e950feba910d 314 CANconversionlist[1].Data[4] = 0x00;
kendunlop 12:e950feba910d 315 CANconversionlist[1].Data[5] = 0x00;
kendunlop 12:e950feba910d 316 CANconversionlist[1].Data[6] = 0x00;
kendunlop 12:e950feba910d 317 CANconversionlist[1].Data[7] = 0x00;
kendunlop 12:e950feba910d 318
kendunlop 12:e950feba910d 319 CANconversionlist[2].IDfrom = 0x303;
kendunlop 12:e950feba910d 320 CANconversionlist[2].IDto = 0x303;
kendunlop 12:e950feba910d 321 CANconversionlist[2].length = 0x8;
kendunlop 12:e950feba910d 322 CANconversionlist[2].Data[0] = 0x00;
kendunlop 12:e950feba910d 323 CANconversionlist[2].Data[1] = 0x00;
kendunlop 12:e950feba910d 324 CANconversionlist[2].Data[2] = 0x00;
kendunlop 12:e950feba910d 325 CANconversionlist[2].Data[3] = 0x00;
kendunlop 12:e950feba910d 326 CANconversionlist[2].Data[4] = 0x00;
kendunlop 12:e950feba910d 327 CANconversionlist[2].Data[5] = 0x00;
kendunlop 12:e950feba910d 328 CANconversionlist[2].Data[6] = 0x00;
kendunlop 12:e950feba910d 329 CANconversionlist[2].Data[7] = 0x00;
kendunlop 12:e950feba910d 330
kendunlop 12:e950feba910d 331 CANconversionlist[3].IDfrom = 0x304;
kendunlop 12:e950feba910d 332 CANconversionlist[3].IDto = 0x304;
kendunlop 12:e950feba910d 333 CANconversionlist[3].length = 0x8;
kendunlop 12:e950feba910d 334 CANconversionlist[3].Data[0] = 0x08;
kendunlop 12:e950feba910d 335 CANconversionlist[3].Data[1] = 0x00;
kendunlop 12:e950feba910d 336 CANconversionlist[3].Data[2] = 0x00;
kendunlop 12:e950feba910d 337 CANconversionlist[3].Data[3] = 0x00;
kendunlop 12:e950feba910d 338 CANconversionlist[3].Data[4] = 0x00;
kendunlop 12:e950feba910d 339 CANconversionlist[3].Data[5] = 0x00;
kendunlop 12:e950feba910d 340 CANconversionlist[3].Data[6] = 0x00;
kendunlop 12:e950feba910d 341 CANconversionlist[3].Data[7] = 0x00;
kendunlop 12:e950feba910d 342
kendunlop 12:e950feba910d 343 CANconversionlist[4].IDfrom = 0x305;
kendunlop 12:e950feba910d 344 CANconversionlist[4].IDto = 0x305;
kendunlop 12:e950feba910d 345 CANconversionlist[4].length = 0x8;
kendunlop 12:e950feba910d 346 CANconversionlist[4].Data[0] = 0x08;
kendunlop 12:e950feba910d 347 CANconversionlist[4].Data[1] = 0x00;
kendunlop 12:e950feba910d 348 CANconversionlist[4].Data[2] = 0x09;
kendunlop 12:e950feba910d 349 CANconversionlist[4].Data[3] = 0x09;
kendunlop 12:e950feba910d 350 CANconversionlist[4].Data[4] = 0x00;
kendunlop 12:e950feba910d 351 CANconversionlist[4].Data[5] = 0x00;
kendunlop 12:e950feba910d 352 CANconversionlist[4].Data[6] = 0x00;
kendunlop 12:e950feba910d 353 CANconversionlist[4].Data[7] = 0x00;
kendunlop 12:e950feba910d 354
kendunlop 12:e950feba910d 355 CANconversionlist[5].IDfrom = 0x306;
kendunlop 12:e950feba910d 356 CANconversionlist[5].IDto = 0x306;
kendunlop 12:e950feba910d 357 CANconversionlist[5].length = 0x8;
kendunlop 12:e950feba910d 358 CANconversionlist[5].Data[0] = 0x02;
kendunlop 12:e950feba910d 359 CANconversionlist[5].Data[1] = 0x03;
kendunlop 12:e950feba910d 360 CANconversionlist[5].Data[2] = 0x00;
kendunlop 12:e950feba910d 361 CANconversionlist[5].Data[3] = 0x00;
kendunlop 12:e950feba910d 362 CANconversionlist[5].Data[4] = 0x00;
kendunlop 12:e950feba910d 363 CANconversionlist[5].Data[5] = 0x00;
kendunlop 12:e950feba910d 364 CANconversionlist[5].Data[6] = 0x00;
kendunlop 12:e950feba910d 365 CANconversionlist[5].Data[7] = 0x00;
kendunlop 12:e950feba910d 366
kendunlop 12:e950feba910d 367 CANconversionlist[6].IDfrom = 0x308;
kendunlop 12:e950feba910d 368 CANconversionlist[6].IDto = 0x307;
kendunlop 12:e950feba910d 369 CANconversionlist[6].length = 0x8;
kendunlop 12:e950feba910d 370 CANconversionlist[6].Data[0] = 0x06;
kendunlop 12:e950feba910d 371 CANconversionlist[6].Data[1] = 0x07;
kendunlop 12:e950feba910d 372 CANconversionlist[6].Data[2] = 0x08;
kendunlop 12:e950feba910d 373 CANconversionlist[6].Data[3] = 0x00;
kendunlop 12:e950feba910d 374 CANconversionlist[6].Data[4] = 0x00;
kendunlop 12:e950feba910d 375 CANconversionlist[6].Data[5] = 0x00;
kendunlop 12:e950feba910d 376 CANconversionlist[6].Data[6] = 0x00;
kendunlop 12:e950feba910d 377 CANconversionlist[6].Data[7] = 0x00;
kendunlop 12:e950feba910d 378
kendunlop 12:e950feba910d 379 CANconversionlist[7].IDfrom = 0x309;
kendunlop 12:e950feba910d 380 CANconversionlist[7].IDto = 0x308;
kendunlop 12:e950feba910d 381 CANconversionlist[7].length = 0x8;
kendunlop 12:e950feba910d 382 CANconversionlist[7].Data[0] = 0x06;
kendunlop 12:e950feba910d 383 CANconversionlist[7].Data[1] = 0x07;
kendunlop 12:e950feba910d 384 CANconversionlist[7].Data[2] = 0x08;
kendunlop 12:e950feba910d 385 CANconversionlist[7].Data[3] = 0x00;
kendunlop 12:e950feba910d 386 CANconversionlist[7].Data[4] = 0x00;
kendunlop 12:e950feba910d 387 CANconversionlist[7].Data[5] = 0x00;
kendunlop 12:e950feba910d 388 CANconversionlist[7].Data[6] = 0x00;
kendunlop 12:e950feba910d 389 CANconversionlist[7].Data[7] = 0x00;
kendunlop 12:e950feba910d 390
kendunlop 12:e950feba910d 391 CANconversionlistheight = 8;
kendunlop 12:e950feba910d 392 }
kendunlop 12:e950feba910d 393 pc.printf("CAN conversion list currently has %d rows:\r\n", CANconversionlistheight);
kendunlop 12:e950feba910d 394 int i = 0;
kendunlop 12:e950feba910d 395 while (i < CANconversionlistheight)
kendunlop 12:e950feba910d 396 {
kendunlop 12:e950feba910d 397 //pc.printf("Printing row %d: ", i+1);
kendunlop 12:e950feba910d 398 pc.printf("ID \033[1;37m%03X\033[0m will convert to: \033[1;30;47m%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m.", CANconversionlist[i].IDfrom, CANconversionlist[i].IDto, CANconversionlist[i].length, CANconversionlist[i].Data[0], CANconversionlist[i].Data[1], CANconversionlist[i].Data[2], CANconversionlist[i].Data[3], CANconversionlist[i].Data[4], CANconversionlist[i].Data[5], CANconversionlist[i].Data[6], CANconversionlist[i].Data[7]);
kendunlop 12:e950feba910d 399 pc.printf("\r\n");
kendunlop 12:e950feba910d 400 i++;
kendunlop 12:e950feba910d 401 }
kendunlop 12:e950feba910d 402 CANpassthrough = 0;
kendunlop 12:e950feba910d 403 pc.printf("CANpassthrough is now set to %d.\r\n", CANpassthrough);
kendunlop 12:e950feba910d 404 numberkeypressed = -1;
kendunlop 12:e950feba910d 405 }
kendunlop 12:e950feba910d 406 if (c == 27)
kendunlop 12:e950feba910d 407 {
kendunlop 12:e950feba910d 408 pc.printf("Esc key press found.\r\n");
kendunlop 12:e950feba910d 409 normalkeypresses = 1;
kendunlop 12:e950feba910d 410 tablesmode = 0;
kendunlop 12:e950feba910d 411 }
kendunlop 12:e950feba910d 412 }
kendunlop 12:e950feba910d 413
kendunlop 10:3e15baff40e7 414 //A function to report if baud rates differ
kendunlop 10:3e15baff40e7 415 void reportbaudrates(void)
kendunlop 10:3e15baff40e7 416 {
kendunlop 10:3e15baff40e7 417 if (mbedCANbusspeed != CANGatewayCANbusspeed)
kendunlop 10:3e15baff40e7 418 {
kendunlop 10:3e15baff40e7 419 pc.printf("Mbed baud rate (%d) is different from assumed CAN Gateway baud rate (%d), will expect no CAN.\r\n", (mbedCANbusspeed / 1000), (CANGatewayCANbusspeed / 1000));
kendunlop 10:3e15baff40e7 420 }
kendunlop 10:3e15baff40e7 421 }
kendunlop 10:3e15baff40e7 422
kendunlop 8:6f096b45ca15 423 //A function to handle when CAN-expectations are not fulfilled
kendunlop 8:6f096b45ca15 424 void expectationwasnotfulfilled(void)
kendunlop 8:6f096b45ca15 425 {
kendunlop 8:6f096b45ca15 426 //pc.printf("Expectation was not fulfilled for that message!\r\n");
kendunlop 8:6f096b45ca15 427 }
kendunlop 7:a9150dc1e481 428
kendunlop 7:a9150dc1e481 429 //A function to clear all test-related variables
kendunlop 11:abd3df435a2b 430 void resetCANbuses()//A quick method to reset both CAN buses conveniently
kendunlop 11:abd3df435a2b 431 {
kendunlop 11:abd3df435a2b 432 CanBus.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
kendunlop 11:abd3df435a2b 433 CanBus2.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
kendunlop 11:abd3df435a2b 434 }
kendunlop 11:abd3df435a2b 435
kendunlop 7:a9150dc1e481 436 void resettest(void)
kendunlop 7:a9150dc1e481 437 {
kendunlop 9:7c27efe30a77 438 //pc.printf("Resetting test.\r\n");
kendunlop 11:abd3df435a2b 439 listen = 1;
kendunlop 7:a9150dc1e481 440 failsthistest = 0;
kendunlop 11:abd3df435a2b 441 failsstreak = 0;
kendunlop 11:abd3df435a2b 442 failsstreakstart = 0;
kendunlop 9:7c27efe30a77 443 spamcount = 0;
kendunlop 8:6f096b45ca15 444 noreplyfailsthistest = 0;
kendunlop 9:7c27efe30a77 445 goodnoreplies = 0;
kendunlop 9:7c27efe30a77 446 goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 447 goodnoreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 448 noreplystreak = 0;
kendunlop 9:7c27efe30a77 449 noreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 450 CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 451 CANmatchstreakstartID = 0;
kendunlop 8:6f096b45ca15 452 mismatchfailsthistest = 0;
kendunlop 9:7c27efe30a77 453 matchesthistest = 0;
kendunlop 8:6f096b45ca15 454 idscheckedcount = 0;
kendunlop 9:7c27efe30a77 455 unexpectedCANfails = 0;
kendunlop 9:7c27efe30a77 456 unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 457 unexpectedCANstreakstartid = 0;
kendunlop 10:3e15baff40e7 458 messagesincount = 0;
kendunlop 11:abd3df435a2b 459 testwasaborted = 0;
kendunlop 7:a9150dc1e481 460 }
kendunlop 7:a9150dc1e481 461
kendunlop 7:a9150dc1e481 462 //A function to add a carriage return in the output if the system has been writing out the CAN messages it sends.
kendunlop 7:a9150dc1e481 463 void addnewlineifneeded(void)
kendunlop 7:a9150dc1e481 464 {
kendunlop 7:a9150dc1e481 465 if (addnewlinetonextmessage == 1)
kendunlop 7:a9150dc1e481 466 {
kendunlop 7:a9150dc1e481 467 pc.printf("\r\n");
kendunlop 7:a9150dc1e481 468 addnewlinetonextmessage = 0;
kendunlop 7:a9150dc1e481 469 }
kendunlop 7:a9150dc1e481 470 }
kendunlop 7:a9150dc1e481 471
kendunlop 9:7c27efe30a77 472 void reportsentCAN() //A function to print out the CAN that was sent. Messages can only be positioned correctly once their results are known.
kendunlop 9:7c27efe30a77 473 {
kendunlop 9:7c27efe30a77 474 pc.printf("\033[1;33m\rSent out : %s \033[0m", messageOutTextWithSpaces);
kendunlop 9:7c27efe30a77 475 }
kendunlop 9:7c27efe30a77 476
kendunlop 7:a9150dc1e481 477
kendunlop 7:a9150dc1e481 478 //A function to end a test and report on findings.
kendunlop 7:a9150dc1e481 479 void endtest()
kendunlop 7:a9150dc1e481 480 {
kendunlop 11:abd3df435a2b 481 listen = 0;
kendunlop 8:6f096b45ca15 482 expectationresolved = 1;
kendunlop 11:abd3df435a2b 483 if (testwasaborted == 1)
kendunlop 7:a9150dc1e481 484 {
kendunlop 11:abd3df435a2b 485 pc.printf("\033[1;35mTest was aborted, results invalid.\033[0m\r\n");
kendunlop 11:abd3df435a2b 486 pc.printf("\033[1;35m%d IDs sent out. %d failures found so far.\033[0m\r\n", spamcount, failsthistest);
kendunlop 9:7c27efe30a77 487 if (CANpassthrough == 0)
kendunlop 9:7c27efe30a77 488 {
kendunlop 11:abd3df435a2b 489 pc.printf("\033[1;35m%d expected non-replies found so far. \033[0m", goodnoreplies);
kendunlop 9:7c27efe30a77 490 }
kendunlop 11:abd3df435a2b 491 pc.printf("\033[1;35m%d CAN matches found so far.\033[0m\r\n", matchesthistest);
kendunlop 7:a9150dc1e481 492 }
kendunlop 11:abd3df435a2b 493 if (failsthistest == 0 and testwasaborted == 0)
kendunlop 7:a9150dc1e481 494 {
kendunlop 11:abd3df435a2b 495 pc.printf("\033[1;32mTest passed.\033[0m\r\n");
kendunlop 11:abd3df435a2b 496 pc.printf("\033[1;32m%d IDs sent out. \033[0m", spamcount);
kendunlop 11:abd3df435a2b 497 pc.printf("\033[1;32m%d failures found.\033[0m\r\n", failsthistest);
kendunlop 11:abd3df435a2b 498 if (CANpassthrough == 0)
kendunlop 11:abd3df435a2b 499 {
kendunlop 11:abd3df435a2b 500 pc.printf("\033[1;32m%d expected non-replies found. \033[0m", goodnoreplies);
kendunlop 11:abd3df435a2b 501 }
kendunlop 11:abd3df435a2b 502 pc.printf("\033[1;32m%d CAN matches found.\033[0m\r\n", matchesthistest);
kendunlop 11:abd3df435a2b 503 }
kendunlop 11:abd3df435a2b 504 if (failsthistest > 0 and testwasaborted == 0)
kendunlop 11:abd3df435a2b 505 {
kendunlop 11:abd3df435a2b 506 pc.printf("\033[1;31mTest failed.\r\n%d failures found.\033[0m\r\n", failsthistest);
kendunlop 9:7c27efe30a77 507 pc.printf("\033[1;31m%d mismatch failures, %d 'no reply' failures, %d unexpected CAN messages.\033[0m\r\n", mismatchfailsthistest, noreplyfailsthistest, unexpectedCANfails);
kendunlop 9:7c27efe30a77 508 if (goodnoreplies > 0)
kendunlop 9:7c27efe30a77 509 {
kendunlop 9:7c27efe30a77 510 pc.printf("\033[1;31m%d expected non-replies occurred.\033[0m\r\n", goodnoreplies);
kendunlop 9:7c27efe30a77 511 }
kendunlop 7:a9150dc1e481 512 }
kendunlop 9:7c27efe30a77 513 //addnewlineifneeded();
kendunlop 7:a9150dc1e481 514 pc.printf("-------------------------------------\r\n");
kendunlop 7:a9150dc1e481 515 failsthistest = 0;
kendunlop 11:abd3df435a2b 516 normalkeypresses = 1;
kendunlop 11:abd3df435a2b 517 }
kendunlop 11:abd3df435a2b 518
kendunlop 11:abd3df435a2b 519 //'End ID spam test' function so you can end it by reaching 2048 IDs or pressing 'Esc' while it's running
kendunlop 11:abd3df435a2b 520 void endidspamtest()
kendunlop 11:abd3df435a2b 521 {
kendunlop 11:abd3df435a2b 522 spamendtime = clock();
kendunlop 11:abd3df435a2b 523 getspamsecondstotal();//Process the spam information
kendunlop 11:abd3df435a2b 524 idspamon = 0;
kendunlop 11:abd3df435a2b 525 aspamisgoing = 0;
kendunlop 11:abd3df435a2b 526 normalkeypresses = 0;
kendunlop 11:abd3df435a2b 527 addnewlinetonextmessage = 1;
kendunlop 11:abd3df435a2b 528 //addnewlineifneeded();
kendunlop 11:abd3df435a2b 529 //pc.printf("Ending ID spam sequence. %d IDs checked total.\r\n", idscheckedcount);
kendunlop 11:abd3df435a2b 530 idlistincrementer = 0;
kendunlop 11:abd3df435a2b 531 endtest();
kendunlop 7:a9150dc1e481 532 }
kendunlop 10:3e15baff40e7 533
kendunlop 10:3e15baff40e7 534 void endspeedtest()//A different 'end' routine for speed tests.
kendunlop 10:3e15baff40e7 535 {
kendunlop 10:3e15baff40e7 536 //if (messagesincount == spamcount - 1)//If the messages in are only one less than messages out, adjust since it's probably just the test cancelling before getting that last message.
kendunlop 10:3e15baff40e7 537 //{
kendunlop 10:3e15baff40e7 538 //pc.printf("messagesincount is only one less than spamcount, setting it.\r\n");
kendunlop 10:3e15baff40e7 539 //messagesincount = spamcount;
kendunlop 10:3e15baff40e7 540 //}
kendunlop 11:abd3df435a2b 541 listen = 0;
kendunlop 10:3e15baff40e7 542 pc.printf("Ending CAN speed test.\r\n");
kendunlop 10:3e15baff40e7 543 pc.printf("%d messages sent. ", spamcount);
kendunlop 11:abd3df435a2b 544 pc.printf("%d messages detected coming back in over %d seconds.\r\n", messagesincount, spamsecondstotal);
kendunlop 10:3e15baff40e7 545 int speedtestpercentage = ((messagesincount * 100)/spamcount);
kendunlop 10:3e15baff40e7 546 int speedtestpasslevel = 90;
kendunlop 10:3e15baff40e7 547 if (speedtestpercentage >= speedtestpasslevel)
kendunlop 10:3e15baff40e7 548 {
kendunlop 11:abd3df435a2b 549 //pc.printf("\033[1;32mTest pass: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
kendunlop 10:3e15baff40e7 550 }
kendunlop 10:3e15baff40e7 551 else
kendunlop 10:3e15baff40e7 552 {
kendunlop 11:abd3df435a2b 553 //pc.printf("\033[1;31mTest fail: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
kendunlop 10:3e15baff40e7 554 }
kendunlop 11:abd3df435a2b 555 speedtestpasslevel = (CANGatewayCANbusspeed / 1000) * 8; //The HD2 can do 80 channels at 100Hz, so 8,000 messages per second are required at top baud rate (1000kbit/s)
kendunlop 11:abd3df435a2b 556 if (CANGatewayCANbusspeed == mbedCANbusspeed)
kendunlop 11:abd3df435a2b 557 {
kendunlop 11:abd3df435a2b 558 if (messagesinpersecond >= speedtestpasslevel)
kendunlop 11:abd3df435a2b 559 {
kendunlop 11:abd3df435a2b 560 pc.printf("\033[1;32mTest pass: %d messages in per second. (%d required for pass at Gateway baud rate %d.)\033[0m\r\n", messagesinpersecond, speedtestpasslevel, CANGatewayCANbusspeed / 1000);
kendunlop 11:abd3df435a2b 561 }
kendunlop 11:abd3df435a2b 562 if (messagesinpersecond < speedtestpasslevel)
kendunlop 11:abd3df435a2b 563 {
kendunlop 11:abd3df435a2b 564 pc.printf("\033[1;31mTest fail: %d messages in per second. (%d required for pass at Gateway baud rate %d.)\033[0m\r\n", messagesinpersecond, speedtestpasslevel, CANGatewayCANbusspeed / 1000);
kendunlop 11:abd3df435a2b 565 }
kendunlop 11:abd3df435a2b 566 }
kendunlop 11:abd3df435a2b 567 if (CANGatewayCANbusspeed != mbedCANbusspeed)
kendunlop 11:abd3df435a2b 568 {
kendunlop 11:abd3df435a2b 569 pc.printf("\033[1;35mTest invalid: Mbed CAN bus baud rate (%d) does not match presumed CAN Gateway baud rate (%d).\033[0m\r\n", mbedCANbusspeed / 1000, CANGatewayCANbusspeed / 1000);
kendunlop 11:abd3df435a2b 570 }
kendunlop 11:abd3df435a2b 571 pc.printf("\n");//Add an extra new line so the whole baud rate test is separate from the rest of the text.
kendunlop 10:3e15baff40e7 572 }
kendunlop 7:a9150dc1e481 573
kendunlop 7:a9150dc1e481 574 //A generic 'send CAN' function to send CAN with a standard message
kendunlop 7:a9150dc1e481 575 void sendCAN(void)
kendunlop 7:a9150dc1e481 576 {
kendunlop 7:a9150dc1e481 577 CanBus.write(messageOut1);
kendunlop 7:a9150dc1e481 578 //addnewlineifneeded();
kendunlop 8:6f096b45ca15 579 if (aspamisgoing == 0)
kendunlop 8:6f096b45ca15 580 {
kendunlop 8:6f096b45ca15 581 //pc.printf("\r\n");
kendunlop 8:6f096b45ca15 582 }
kendunlop 8:6f096b45ca15 583 expectationresolved = 0;
kendunlop 8:6f096b45ca15 584 //pc.printf("Expectationresolved now is %d.", expectationresolved);
kendunlop 8:6f096b45ca15 585 expectationtimer = 0;
kendunlop 7:a9150dc1e481 586 //addnewlinetonextmessage = 1;
kendunlop 7:a9150dc1e481 587 }
kendunlop 1:19d183cf2689 588
kendunlop 2:11339018dda6 589 //A function to deal with each CAN message part (e.g.: 301, 8, 01, 02...)
kendunlop 1:19d183cf2689 590 void dealwithpart(void)
kendunlop 1:19d183cf2689 591 {
kendunlop 11:abd3df435a2b 592 hextotal = 0;
kendunlop 1:19d183cf2689 593 partincrement = partincrement + 1;
kendunlop 1:19d183cf2689 594 //pc.printf("Dealing with part %d. (%s)\r\n", partincrement, part);
kendunlop 1:19d183cf2689 595 //int partincrementb = 0;
kendunlop 1:19d183cf2689 596 int textlength = part.length();
kendunlop 1:19d183cf2689 597 //int characterinc = 0;
kendunlop 1:19d183cf2689 598 //pc.printf("That's %d characters long.\r\n", textlength);
kendunlop 1:19d183cf2689 599 for (int i = 0; i < part.size(); i++)
kendunlop 1:19d183cf2689 600 {
kendunlop 1:19d183cf2689 601 //pc.printf("Examining character %d/%d.\r\n", (i+1), textlength);
kendunlop 1:19d183cf2689 602 char individualcharacter = part.at(i);
kendunlop 1:19d183cf2689 603 //pc.printf("That's '%c'.\r\n", individualcharacter);
kendunlop 1:19d183cf2689 604 int numberized = 0;
kendunlop 1:19d183cf2689 605 if(isdigit(individualcharacter))
kendunlop 1:19d183cf2689 606 {
kendunlop 1:19d183cf2689 607 //pc.printf("That character is a digit.\r\n");
kendunlop 1:19d183cf2689 608 numberized = individualcharacter - '0';
kendunlop 1:19d183cf2689 609 //pc.printf("Numberized that's '%d'.\r\n", numberized);
kendunlop 1:19d183cf2689 610 }
kendunlop 1:19d183cf2689 611 else
kendunlop 1:19d183cf2689 612 {
kendunlop 1:19d183cf2689 613 //pc.printf("That character is NOT a digit.\r\n");
kendunlop 1:19d183cf2689 614 int asciivalue = toupper(individualcharacter);
kendunlop 1:19d183cf2689 615 //pc.printf("Ascii value is %d.\r\n", asciivalue);
kendunlop 1:19d183cf2689 616 numberized = asciivalue - 55;
kendunlop 1:19d183cf2689 617 //pc.printf("Hex value is %d.\r\n", numberized);
kendunlop 1:19d183cf2689 618 }
kendunlop 1:19d183cf2689 619 //pc.printf("Eventual numberization is %d.\r\n", numberized);
kendunlop 1:19d183cf2689 620 //pc.printf("Hex total is now %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 621 int powertoraise = part.size() - (i+1);
kendunlop 1:19d183cf2689 622 //pc.printf("Must multiply by 16 to the power of %d.\r\n", powertoraise);
kendunlop 1:19d183cf2689 623 int amounttoadd = numberized;
kendunlop 1:19d183cf2689 624 //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
kendunlop 1:19d183cf2689 625 if (powertoraise == 1)
kendunlop 1:19d183cf2689 626 {
kendunlop 1:19d183cf2689 627 amounttoadd = numberized * 16;
kendunlop 1:19d183cf2689 628 //pc.printf("Multiplying by 16.\r\n");
kendunlop 1:19d183cf2689 629 //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
kendunlop 1:19d183cf2689 630 }
kendunlop 1:19d183cf2689 631 if (powertoraise == 2)
kendunlop 1:19d183cf2689 632 {
kendunlop 1:19d183cf2689 633 amounttoadd = numberized * 256;
kendunlop 1:19d183cf2689 634 //pc.printf("Multiplying by 256.\r\n");
kendunlop 1:19d183cf2689 635 }
kendunlop 1:19d183cf2689 636 //pc.printf("Amount to add is therefore %d.\r\n", amounttoadd);
kendunlop 1:19d183cf2689 637 hextotal = hextotal + amounttoadd;
kendunlop 1:19d183cf2689 638 //pc.printf("hextotal so far for this part is therefore %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 639 }
kendunlop 1:19d183cf2689 640 //pc.printf("hextotal for whole part is therefore %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 641 //pc.printf("Need to convert that into true hex.\r\n");
kendunlop 1:19d183cf2689 642 std::stringstream sstream;
kendunlop 1:19d183cf2689 643 sstream << std::hex << hextotal;
kendunlop 1:19d183cf2689 644 //pc.printf("StringSteam says '%s'.\r\n", sstream.str());
kendunlop 1:19d183cf2689 645 if (partincrement == 1)
kendunlop 7:a9150dc1e481 646 {
kendunlop 11:abd3df435a2b 647 if (hextotal > 0xFFF)
kendunlop 11:abd3df435a2b 648 {
kendunlop 11:abd3df435a2b 649 hextotal = 0xFFF;
kendunlop 11:abd3df435a2b 650 }
kendunlop 7:a9150dc1e481 651 messageOut1.id = hextotal;
kendunlop 7:a9150dc1e481 652 expected1 = hextotal;
kendunlop 11:abd3df435a2b 653 if (customentry == 1)
kendunlop 11:abd3df435a2b 654 {
kendunlop 11:abd3df435a2b 655 idlistincrementer = hextotal;
kendunlop 11:abd3df435a2b 656 }
kendunlop 8:6f096b45ca15 657 //For IDs, check if the ID is represented in the idsarray.
kendunlop 8:6f096b45ca15 658 shouldntcomein = 0;
kendunlop 9:7c27efe30a77 659 if (mbedCANbusspeed != CANGatewayCANbusspeed)
kendunlop 9:7c27efe30a77 660 {
kendunlop 9:7c27efe30a77 661 shouldntcomein = 1;
kendunlop 9:7c27efe30a77 662 }
kendunlop 11:abd3df435a2b 663 idwasfound = 0;
kendunlop 8:6f096b45ca15 664 if (CANpassthrough == 0)
kendunlop 8:6f096b45ca15 665 {
kendunlop 12:e950feba910d 666 for(int i = 0; i <=CANconversionlistheight-1; i++)
kendunlop 8:6f096b45ca15 667 {
kendunlop 12:e950feba910d 668 if (CANconversionlist[i].IDfrom == expected1)
kendunlop 8:6f096b45ca15 669 {
kendunlop 11:abd3df435a2b 670 //pc.printf("ID was found in the array at %d.\r\n", i);
kendunlop 8:6f096b45ca15 671 idwasfound = 1;
kendunlop 11:abd3df435a2b 672 //pc.printf("IDwasfound is now '%d'.\r\n", idwasfound);
kendunlop 11:abd3df435a2b 673 columnidwasfound = i;
kendunlop 8:6f096b45ca15 674 int originalexpectedvalue = expected1;
kendunlop 9:7c27efe30a77 675 //Get string of hex code for original expected value (ID code found in array)
kendunlop 9:7c27efe30a77 676 std::stringstream sstream;
kendunlop 9:7c27efe30a77 677 sstream << std::hex << originalexpectedvalue;
kendunlop 9:7c27efe30a77 678 string tempstring = sstream.str();
kendunlop 9:7c27efe30a77 679 //Get string of hex code for value to adjust to
kendunlop 9:7c27efe30a77 680 std::stringstream sstream2;
kendunlop 9:7c27efe30a77 681 sstream2 << std::hex << expected1;
kendunlop 9:7c27efe30a77 682 string tempstring2 = sstream2.str();
kendunlop 9:7c27efe30a77 683 //pc.printf("\r\nFound message ID %s at 0,%d in idsarray! Will adjust expected value to %s.\r\n", tempstring, i, tempstring2);
kendunlop 8:6f096b45ca15 684 }
kendunlop 8:6f096b45ca15 685 }
kendunlop 8:6f096b45ca15 686 if (idwasfound == 0 and CANpassthrough == 0)
kendunlop 8:6f096b45ca15 687 {
kendunlop 8:6f096b45ca15 688 //pc.printf("CANpassthrough is %d.\r\n", CANpassthrough);
kendunlop 8:6f096b45ca15 689 shouldntcomein = 1;
kendunlop 11:abd3df435a2b 690 //pc.printf("ID of %d was never found, expecting it NOT to come in.\r\n", expected1);
kendunlop 8:6f096b45ca15 691 }
kendunlop 9:7c27efe30a77 692 if (shouldntcomein == 0 and unexpectedCANstreak > 0) //If data is expected to come in, this ends any unexpected-CAN streak.
kendunlop 9:7c27efe30a77 693 {
kendunlop 9:7c27efe30a77 694 if (aspamisgoing == 1) //Add a new line if it's in spam mode here to report new non-unexpected-CAN-streak stuff.
kendunlop 9:7c27efe30a77 695 {
kendunlop 11:abd3df435a2b 696 //pc.printf("\r\n(FrombreakingunexpectedCANstreak 2)\n");
kendunlop 9:7c27efe30a77 697 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 698 }
kendunlop 9:7c27efe30a77 699 unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 700 unexpectedCANstreakstartid = 0;
kendunlop 9:7c27efe30a77 701 }
kendunlop 8:6f096b45ca15 702 }
kendunlop 7:a9150dc1e481 703 }
kendunlop 1:19d183cf2689 704 if (partincrement == 2)
kendunlop 7:a9150dc1e481 705 {
kendunlop 7:a9150dc1e481 706 messageOut1.len = hextotal;
kendunlop 7:a9150dc1e481 707 expected2 = hextotal;
kendunlop 7:a9150dc1e481 708 }
kendunlop 1:19d183cf2689 709 if (partincrement >= 3)
kendunlop 7:a9150dc1e481 710 {
kendunlop 7:a9150dc1e481 711 messageOut1.data[partincrement-3] = hextotal;
kendunlop 7:a9150dc1e481 712 }
kendunlop 7:a9150dc1e481 713 if (partincrement == 3)
kendunlop 7:a9150dc1e481 714 {
kendunlop 7:a9150dc1e481 715 expected3 = hextotal;
kendunlop 7:a9150dc1e481 716 }
kendunlop 7:a9150dc1e481 717 if (partincrement == 4)
kendunlop 7:a9150dc1e481 718 {
kendunlop 7:a9150dc1e481 719 expected4 = hextotal;
kendunlop 7:a9150dc1e481 720 }
kendunlop 7:a9150dc1e481 721 if (partincrement == 5)
kendunlop 7:a9150dc1e481 722 {
kendunlop 7:a9150dc1e481 723 expected5 = hextotal;
kendunlop 7:a9150dc1e481 724 }
kendunlop 7:a9150dc1e481 725 if (partincrement == 6)
kendunlop 7:a9150dc1e481 726 {
kendunlop 7:a9150dc1e481 727 expected6 = hextotal;
kendunlop 7:a9150dc1e481 728 }
kendunlop 7:a9150dc1e481 729 if (partincrement == 7)
kendunlop 7:a9150dc1e481 730 {
kendunlop 7:a9150dc1e481 731 expected7 = hextotal;
kendunlop 7:a9150dc1e481 732 }
kendunlop 7:a9150dc1e481 733 if (partincrement == 8)
kendunlop 7:a9150dc1e481 734 {
kendunlop 7:a9150dc1e481 735 expected8 = hextotal;
kendunlop 7:a9150dc1e481 736 }
kendunlop 7:a9150dc1e481 737 if (partincrement == 9)
kendunlop 7:a9150dc1e481 738 {
kendunlop 7:a9150dc1e481 739 expected9 = hextotal;
kendunlop 7:a9150dc1e481 740 }
kendunlop 7:a9150dc1e481 741 if (partincrement == 10)
kendunlop 7:a9150dc1e481 742 {
kendunlop 7:a9150dc1e481 743 expected10 = hextotal;
kendunlop 7:a9150dc1e481 744 }
kendunlop 11:abd3df435a2b 745 //pc.printf("IDwasfound says '%d'.\r\n", idwasfound);
kendunlop 11:abd3df435a2b 746 if (idwasfound == 1 and partincrement == 10)//If the ID was found in the table earlier, use it as the basis for the expected values instead.
kendunlop 11:abd3df435a2b 747 {
kendunlop 11:abd3df435a2b 748 //pc.printf("ID was found in table earlier, setting expectations\r\n");
kendunlop 11:abd3df435a2b 749 int i = columnidwasfound;
kendunlop 12:e950feba910d 750 expected1 = CANconversionlist[i].IDto;
kendunlop 12:e950feba910d 751 expected2 = CANconversionlist[i].length;
kendunlop 12:e950feba910d 752 expected3 = CANconversionlist[i].Data[0];
kendunlop 12:e950feba910d 753 expected4 = CANconversionlist[i].Data[1];
kendunlop 12:e950feba910d 754 expected5 = CANconversionlist[i].Data[2];
kendunlop 12:e950feba910d 755 expected6 = CANconversionlist[i].Data[3];
kendunlop 12:e950feba910d 756 expected7 = CANconversionlist[i].Data[4];
kendunlop 12:e950feba910d 757 expected8 = CANconversionlist[i].Data[5];
kendunlop 12:e950feba910d 758 expected9 = CANconversionlist[i].Data[6];
kendunlop 12:e950feba910d 759 expected10 = CANconversionlist[i].Data[7];
kendunlop 11:abd3df435a2b 760 }
kendunlop 1:19d183cf2689 761 //pc.printf("Part %d complete.\r\n", partincrement);
kendunlop 1:19d183cf2689 762 //pc.printf("--------------------------------------\r\n");
kendunlop 1:19d183cf2689 763 }
kendunlop 1:19d183cf2689 764
kendunlop 3:79133dcea836 765 //A function to get a coherent CAN message from one, uninterrupted string
kendunlop 6:2882710e4f1e 766 void getCANfrommessageOutText(void)
kendunlop 1:19d183cf2689 767 {
kendunlop 11:abd3df435a2b 768 //pc.printf("messageOutText before space-removal is '%s'\r\n", messageOutText);
kendunlop 7:a9150dc1e481 769 messageOutTextWithSpaces = messageOutText;
kendunlop 1:19d183cf2689 770 remove(messageOutText.begin(), messageOutText.end(), ' '); //Remove the spaces from the text to send out so it can be parsed.
kendunlop 1:19d183cf2689 771 //pc.printf("After removing spaces, messageOutText is '%s'\r\n", messageOutText);
kendunlop 1:19d183cf2689 772 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 773 //pc.printf("String to parse is '%s'.\r\n", startofstring);
kendunlop 8:6f096b45ca15 774 expectationresolved = 0;
kendunlop 8:6f096b45ca15 775 if (expectationwasfulfilled == 0)
kendunlop 8:6f096b45ca15 776 {
kendunlop 8:6f096b45ca15 777 expectationwasnotfulfilled();
kendunlop 8:6f096b45ca15 778 }
kendunlop 8:6f096b45ca15 779 if (expectationwasfulfilled == -1)
kendunlop 8:6f096b45ca15 780 {
kendunlop 8:6f096b45ca15 781 expectationwasfulfilled = 0;
kendunlop 8:6f096b45ca15 782 }
kendunlop 8:6f096b45ca15 783 expectationwasfulfilled = 0;
kendunlop 1:19d183cf2689 784 partincrement = 0;
kendunlop 11:abd3df435a2b 785 if (mbedCANbusspeed != CANGatewayCANbusspeed) // If the two bus speeds don't match, note that CAN should not be expected to ocme in and report the issue.
kendunlop 11:abd3df435a2b 786 {
kendunlop 11:abd3df435a2b 787 shouldntcomein = 1;
kendunlop 11:abd3df435a2b 788 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 789 {
kendunlop 11:abd3df435a2b 790 reportbaudrates();
kendunlop 11:abd3df435a2b 791 }
kendunlop 11:abd3df435a2b 792 }
kendunlop 1:19d183cf2689 793 part = startofstring.substr(0,3);
kendunlop 1:19d183cf2689 794 dealwithpart();
kendunlop 1:19d183cf2689 795 part = startofstring.substr(3,1);
kendunlop 1:19d183cf2689 796 dealwithpart();
kendunlop 1:19d183cf2689 797 part = startofstring.substr(4,2);
kendunlop 1:19d183cf2689 798 dealwithpart();
kendunlop 1:19d183cf2689 799 part = startofstring.substr(6,2);
kendunlop 1:19d183cf2689 800 dealwithpart();
kendunlop 1:19d183cf2689 801 part = startofstring.substr(8,2);
kendunlop 1:19d183cf2689 802 dealwithpart();
kendunlop 1:19d183cf2689 803 part = startofstring.substr(10,2);
kendunlop 1:19d183cf2689 804 dealwithpart();
kendunlop 1:19d183cf2689 805 part = startofstring.substr(12,2);
kendunlop 1:19d183cf2689 806 dealwithpart();
kendunlop 1:19d183cf2689 807 part = startofstring.substr(14,2);
kendunlop 1:19d183cf2689 808 dealwithpart();
kendunlop 1:19d183cf2689 809 part = startofstring.substr(16,2);
kendunlop 1:19d183cf2689 810 dealwithpart();
kendunlop 1:19d183cf2689 811 part = startofstring.substr(18,2);
kendunlop 1:19d183cf2689 812 dealwithpart();
kendunlop 1:19d183cf2689 813 }
kendunlop 1:19d183cf2689 814
kendunlop 11:abd3df435a2b 815 void displayhelp(void)
kendunlop 11:abd3df435a2b 816 {
kendunlop 11:abd3df435a2b 817 pc.printf("\033[1;32m---------------HELP---------------\r\n");
kendunlop 11:abd3df435a2b 818 pc.printf("Ken_CAN_Test is a program designed by Ken Dunlop to test CAN on the CAN Gateway.\r\n");
kendunlop 11:abd3df435a2b 819 pc.printf("The program is designed to send CAN, then test the response.\r\n");
kendunlop 11:abd3df435a2b 820 pc.printf("Press 'z' to begin sending a series of incrementing messages. Press 'Esc' to finish the test.\r\n");
kendunlop 11:abd3df435a2b 821 pc.printf("Press 'v' to send a message on all IDs (000 - 7FF). Press 'Esc' to abort the test.\r\n");
kendunlop 11:abd3df435a2b 822 pc.printf("Use 'q', 'w', 'e', and 'r' to change the Mbed's CAN bus speed.\r\n");
kendunlop 11:abd3df435a2b 823 pc.printf("Use 't', 'y', 'u', and 'i' to change the presumed CAN bus speed of the CAN Gateway.\r\n");
kendunlop 11:abd3df435a2b 824 pc.printf("If the two CAN bus speeds are different, the program will expect to get no CAN messages back.\r\n");
kendunlop 11:abd3df435a2b 825 pc.printf("Press 'a' to begin a baud rate test. This sends CAN messages quickly and measures how many come back.\r\n");
kendunlop 11:abd3df435a2b 826 pc.printf("Press 'k' to enter Custom Entry mode. This allows you to enter an CAN ID manually and then send a CAN message.\r\n");
kendunlop 11:abd3df435a2b 827 pc.printf("Press 'z' to begin sending incrementing CAN messages. The data in the message will increment by 1 each time.\r\n");
kendunlop 11:abd3df435a2b 828 pc.printf("Press 'o' while sending incrementing messages to multiply the incrementation by 16. This shifts the number up one half-byte.\r\n");
kendunlop 11:abd3df435a2b 829 pc.printf("Press 'k' to enter Custom Entry mode. This allows you to enter an CAN ID manually and then send a CAN message.\r\n");
kendunlop 11:abd3df435a2b 830 pc.printf("Press 'm' to set up an expectation table. This changes what CAN the system expects back when sending certain CAN IDs.\r\n");
kendunlop 11:abd3df435a2b 831 pc.printf("Press 'n' to cancel the expectation table and re-enter CAN passthrough mode. This will simply expect the same CAN back as was sent.\r\n");
kendunlop 11:abd3df435a2b 832 pc.printf("Press the number keys from '1' to '0' to send various pre-defined CAN messages out.\r\n");
kendunlop 11:abd3df435a2b 833 pc.printf("Press '?' to bring up this help screen!\r\n");
kendunlop 11:abd3df435a2b 834 pc.printf("---------------------------------\033[0m\r\n");
kendunlop 11:abd3df435a2b 835 }
kendunlop 1:19d183cf2689 836
kendunlop 3:79133dcea836 837 void printMessageOut (void)
kendunlop 3:79133dcea836 838 {
kendunlop 1:19d183cf2689 839 //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 840 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 841 }
kendunlop 1:19d183cf2689 842
kendunlop 3:79133dcea836 843 void printMessageIn (void)
kendunlop 3:79133dcea836 844 {
kendunlop 8:6f096b45ca15 845 //This function will print out whatever the CAN bus is receiving.
kendunlop 8:6f096b45ca15 846 //addnewlineifneeded();
kendunlop 10:3e15baff40e7 847 pc.printf("\033[0;36mMessage IN: %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m\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 848 }
kendunlop 0:7a500ebaa7a6 849
kendunlop 0:7a500ebaa7a6 850 //The 'main' function will run as soon as the program starts.
kendunlop 0:7a500ebaa7a6 851 int main()
kendunlop 1:19d183cf2689 852 {
kendunlop 1:19d183cf2689 853 pc.baud(115200); // serial port at 115200
kendunlop 1:19d183cf2689 854 CanBus.frequency(500 * 1000); // CAN bus at 500k
kendunlop 3:79133dcea836 855 CanBus2.frequency(500 * 1000); // CAN bus at 500k
kendunlop 1:19d183cf2689 856 CanBus.reset(); // clear any bus errors
kendunlop 3:79133dcea836 857 CanBus2.reset(); // clear any bus errors
kendunlop 1:19d183cf2689 858 //NOTE: Print messages must be below this line to work.
kendunlop 8:6f096b45ca15 859 pc.printf("\033[0m------------------------------------------\r\n");
kendunlop 1:19d183cf2689 860 pc.printf("Welcome to Ken CAN test.\r\n");
kendunlop 1:19d183cf2689 861 pc.printf("Setting CAN bus to 500k.\r\n");
kendunlop 6:2882710e4f1e 862 pc.printf("Setting serial port to baud rate 115200.\r\n");
kendunlop 8:6f096b45ca15 863 pc.printf("Using pins 9 and 10 for CANBus 1 (out) and 30 and 29 for CANBus 2 (in).\r\n");
kendunlop 1:19d183cf2689 864 pc.printf("Version %d.%d\r\n",kMajorVersion,kMinorVersion);
kendunlop 1:19d183cf2689 865 pc.printf("Build date %s %s\r\n",__DATE__,__TIME__);
kendunlop 11:abd3df435a2b 866 pc.printf("\033[1;32mFor help, press '?'.\033[0m\r\n");
kendunlop 1:19d183cf2689 867 pc.printf("------------------------------------------\r\n");
kendunlop 12:e950feba910d 868 //char c;
kendunlop 1:19d183cf2689 869
kendunlop 1:19d183cf2689 870 //Check for button presses
kendunlop 1:19d183cf2689 871 while (1)
kendunlop 0:7a500ebaa7a6 872 {
kendunlop 8:6f096b45ca15 873 if (expectationtimer < 100 and expectationresolved == 0)
kendunlop 8:6f096b45ca15 874 {
kendunlop 8:6f096b45ca15 875 if (expectationresolved == 0)
kendunlop 8:6f096b45ca15 876 {
kendunlop 9:7c27efe30a77 877 expectationtimer++;
kendunlop 9:7c27efe30a77 878 if (expectationtimer >= 2)//If expectation timer gets too high, the CAN reply is deemed not to have arrived.
kendunlop 8:6f096b45ca15 879 {
kendunlop 9:7c27efe30a77 880 if (CANmatchstreak > 0) //CAN not arriving breaks any CAN match streak
kendunlop 9:7c27efe30a77 881 {
kendunlop 9:7c27efe30a77 882 CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 883 CANmatchstreakstartID = 0;
kendunlop 9:7c27efe30a77 884 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 885 {
kendunlop 11:abd3df435a2b 886 pc.printf("\r\n\nFrombreakingCANmatchstreak");//Add a return into the terminal to show the old streak on a line by itself.
kendunlop 9:7c27efe30a77 887 }
kendunlop 9:7c27efe30a77 888 }
kendunlop 9:7c27efe30a77 889 if (goodnoreplystreak > 0 and shouldntcomein == 0) //A missing expected reply breaks any combos for expected no-replies
kendunlop 9:7c27efe30a77 890 {
kendunlop 9:7c27efe30a77 891 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 892 {
kendunlop 9:7c27efe30a77 893 //pc.printf("\r\n(From breaking goodnoreplystreak)\n\r");
kendunlop 9:7c27efe30a77 894 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 895 }
kendunlop 9:7c27efe30a77 896 goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 897 goodnoreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 898 }
kendunlop 11:abd3df435a2b 899 // If data did not come in when it was expected...
kendunlop 8:6f096b45ca15 900 if (shouldntcomein == 0)
kendunlop 8:6f096b45ca15 901 {
kendunlop 8:6f096b45ca15 902 expectationwasfulfilled = 0;
kendunlop 8:6f096b45ca15 903 failsthistest++;
kendunlop 8:6f096b45ca15 904 noreplyfailsthistest++;
kendunlop 8:6f096b45ca15 905 if (aspamisgoing == 0)
kendunlop 8:6f096b45ca15 906 {
kendunlop 9:7c27efe30a77 907 noreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 908 }
kendunlop 9:7c27efe30a77 909 if (goodnoreplystreak > 0)
kendunlop 9:7c27efe30a77 910 {
kendunlop 9:7c27efe30a77 911 goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 912 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 913 {
kendunlop 11:abd3df435a2b 914 pc.printf("(\r\n\n");//Add an extra line if breaking an 'as expected' no reply streak.
kendunlop 9:7c27efe30a77 915 }
kendunlop 8:6f096b45ca15 916 }
kendunlop 11:abd3df435a2b 917 if (failsstreak > 0)
kendunlop 11:abd3df435a2b 918 {
kendunlop 11:abd3df435a2b 919 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 920 {
kendunlop 11:abd3df435a2b 921 pc.printf("\r\n\n");//Add an extra line if breaking a failure 'does not match expectation' streak
kendunlop 11:abd3df435a2b 922 }
kendunlop 11:abd3df435a2b 923 failsstreak = 0;
kendunlop 11:abd3df435a2b 924 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 925 }
kendunlop 9:7c27efe30a77 926 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 927 {
kendunlop 9:7c27efe30a77 928 if (noreplystreak == 0)
kendunlop 9:7c27efe30a77 929 {
kendunlop 9:7c27efe30a77 930 noreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 931 }
kendunlop 9:7c27efe30a77 932 noreplystreak++;
kendunlop 9:7c27efe30a77 933 }
kendunlop 9:7c27efe30a77 934 reportsentCAN();//Now that it's known the CAN has no reply, you can safely write out the sent CAN. (The needed line-returns have been added.)
kendunlop 9:7c27efe30a77 935 if (noreplystreakstartid != idlistincrementer)
kendunlop 9:7c27efe30a77 936 {
kendunlop 9:7c27efe30a77 937 pc.printf("\033[38;5;220mNo reply message detected for IDs %03X to %03X.\033[0m\r", noreplystreakstartid, idlistincrementer);
kendunlop 9:7c27efe30a77 938 }
kendunlop 9:7c27efe30a77 939 if (noreplystreakstartid == idlistincrementer)
kendunlop 9:7c27efe30a77 940 {
kendunlop 9:7c27efe30a77 941 pc.printf("\033[38;5;220mNo reply message detected for ID %03X.\033[0m\r", idlistincrementer);
kendunlop 9:7c27efe30a77 942 }
kendunlop 9:7c27efe30a77 943 if (aspamisgoing == 0)
kendunlop 9:7c27efe30a77 944 {
kendunlop 9:7c27efe30a77 945 pc.printf("\r\n\n"); //If it's not spamming, you can safely add a new line after the fail message.
kendunlop 9:7c27efe30a77 946 }
kendunlop 8:6f096b45ca15 947 }
kendunlop 8:6f096b45ca15 948 if (shouldntcomein == 1)
kendunlop 8:6f096b45ca15 949 {
kendunlop 8:6f096b45ca15 950 expectationwasfulfilled = 1;
kendunlop 9:7c27efe30a77 951 //Getting an expected non-reply breaks any unexpected reply streaks
kendunlop 9:7c27efe30a77 952 if (unexpectedCANstreak > 0)
kendunlop 9:7c27efe30a77 953 {
kendunlop 9:7c27efe30a77 954 if (aspamisgoing == 1) //Add a new line if it's in spam mode here to report new expected-non-message stuff.
kendunlop 9:7c27efe30a77 955 {
kendunlop 11:abd3df435a2b 956 //pc.printf("\r\n\n(FrombreakingunexpectedCANstreak)");
kendunlop 9:7c27efe30a77 957 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 958 }
kendunlop 9:7c27efe30a77 959 unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 960 unexpectedCANstreakstartid = 0;
kendunlop 9:7c27efe30a77 961 }
kendunlop 9:7c27efe30a77 962 //Getting an expected non-reply also breaks any unexpected non-reply streaks
kendunlop 9:7c27efe30a77 963 if (noreplystreak > 0)
kendunlop 9:7c27efe30a77 964 {
kendunlop 9:7c27efe30a77 965 if (aspamisgoing == 1) //Add a new line if it's in spam mode here to report new expected-non-message stuff.
kendunlop 9:7c27efe30a77 966 {
kendunlop 9:7c27efe30a77 967 //pc.printf("\r\n(From breaking noreplystreak)\n");
kendunlop 9:7c27efe30a77 968 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 969 }
kendunlop 9:7c27efe30a77 970 noreplystreak = 0;
kendunlop 9:7c27efe30a77 971 noreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 972 }
kendunlop 11:abd3df435a2b 973 // Also, getting an expected non-reply breaks any CAN-fail streaks
kendunlop 11:abd3df435a2b 974 if (failsstreak > 0 )
kendunlop 11:abd3df435a2b 975 {
kendunlop 11:abd3df435a2b 976 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 977 {
kendunlop 11:abd3df435a2b 978 //pc.printf("\r\n(From breaking CAN-mismatch streak)\n");
kendunlop 11:abd3df435a2b 979 pc.printf("\r\n\n");
kendunlop 11:abd3df435a2b 980 }
kendunlop 11:abd3df435a2b 981 failsstreak = 0;
kendunlop 11:abd3df435a2b 982 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 983 }
kendunlop 9:7c27efe30a77 984 if (goodnoreplystreak == 0) //If there isn't yet a good no-reply streak, set the starting no-reply ID to this one
kendunlop 9:7c27efe30a77 985 {
kendunlop 9:7c27efe30a77 986 goodnoreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 987 if (CANmatchstreak > 0 and aspamisgoing == 1)//Also add an extra return for the breaking of the old CANmatchstreak if needed
kendunlop 9:7c27efe30a77 988 {
kendunlop 9:7c27efe30a77 989 CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 990 pc.printf("(From breaking of CANmatchstreak)\r\n");
kendunlop 9:7c27efe30a77 991 }
kendunlop 9:7c27efe30a77 992 }
kendunlop 9:7c27efe30a77 993 reportsentCAN();//Now that it's known the CAN has no reply, you can safely write out the sent CAN. (The needed line-returns have been added.)
kendunlop 9:7c27efe30a77 994 if (aspamisgoing == 0)
kendunlop 9:7c27efe30a77 995 {
kendunlop 9:7c27efe30a77 996 goodnoreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 997 }
kendunlop 9:7c27efe30a77 998 if (goodnoreplystreakstartid != idlistincrementer)
kendunlop 9:7c27efe30a77 999 {
kendunlop 9:7c27efe30a77 1000 pc.printf("\033[0;32mNo reply message detected from %03X to %03X, as expected.\033[0m\r", goodnoreplystreakstartid, idlistincrementer);
kendunlop 9:7c27efe30a77 1001 }
kendunlop 9:7c27efe30a77 1002 if (goodnoreplystreakstartid == idlistincrementer)
kendunlop 9:7c27efe30a77 1003 {
kendunlop 9:7c27efe30a77 1004 pc.printf("\033[0;32mNo reply message detected for ID %03X, as expected.\033[0m\r", goodnoreplystreakstartid);
kendunlop 9:7c27efe30a77 1005 }
kendunlop 9:7c27efe30a77 1006 if (aspamisgoing == 0)
kendunlop 9:7c27efe30a77 1007 {
kendunlop 11:abd3df435a2b 1008 pc.printf("\r\n\n"); //If it's not spamming, you can safely add a new line after the fail message.
kendunlop 9:7c27efe30a77 1009 }
kendunlop 9:7c27efe30a77 1010 goodnoreplies++;
kendunlop 9:7c27efe30a77 1011 goodnoreplystreak++;
kendunlop 8:6f096b45ca15 1012 }
kendunlop 8:6f096b45ca15 1013 expectationresolved = 1;
kendunlop 8:6f096b45ca15 1014 //pc.printf("Expectation timer reached %d!\r\n", expectationtimer);
kendunlop 8:6f096b45ca15 1015 expectationtimer = 0;
kendunlop 8:6f096b45ca15 1016 if (idspamon == 1)
kendunlop 8:6f096b45ca15 1017 {
kendunlop 8:6f096b45ca15 1018 idscheckedcount++;
kendunlop 9:7c27efe30a77 1019 idlistincrementer++; //Only add 1 to the idlist incrementer at the end so the first ID it sends is '000'.
kendunlop 8:6f096b45ca15 1020 }
kendunlop 11:abd3df435a2b 1021 if (customentry == 1)
kendunlop 11:abd3df435a2b 1022 {
kendunlop 11:abd3df435a2b 1023 pc.printf("Enter CAN ID to send: ");
kendunlop 11:abd3df435a2b 1024 }
kendunlop 8:6f096b45ca15 1025 }
kendunlop 8:6f096b45ca15 1026 wait(0.01);
kendunlop 8:6f096b45ca15 1027 }
kendunlop 8:6f096b45ca15 1028 }
kendunlop 1:19d183cf2689 1029 if (pc.readable())
kendunlop 1:19d183cf2689 1030 {
kendunlop 9:7c27efe30a77 1031 c = tolower(pc.getc());
kendunlop 3:79133dcea836 1032 if (c != NULL)
kendunlop 1:19d183cf2689 1033 {
kendunlop 3:79133dcea836 1034 //When the a key is pressed, define a CAN message and send it.
kendunlop 1:19d183cf2689 1035 //pc.printf("A key was pressed! (%c)\r\n", c);
kendunlop 1:19d183cf2689 1036 messageOutText = "";
kendunlop 8:6f096b45ca15 1037 buttonPressMessageOutText = "";
kendunlop 11:abd3df435a2b 1038 if (c == '1' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1039 {
kendunlop 11:abd3df435a2b 1040 buttonPressMessageOutText = "301 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1041 idlistincrementer = 0x301;
kendunlop 7:a9150dc1e481 1042 }
kendunlop 11:abd3df435a2b 1043 if (c == '2' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1044 {
kendunlop 11:abd3df435a2b 1045 buttonPressMessageOutText = "302 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1046 idlistincrementer = 0x302;
kendunlop 7:a9150dc1e481 1047 }
kendunlop 11:abd3df435a2b 1048 if (c == '3' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1049 {
kendunlop 11:abd3df435a2b 1050 buttonPressMessageOutText = "303 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1051 idlistincrementer = 0x303;
kendunlop 7:a9150dc1e481 1052 }
kendunlop 11:abd3df435a2b 1053 if (c == '4' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1054 {
kendunlop 11:abd3df435a2b 1055 buttonPressMessageOutText = "304 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1056 idlistincrementer = 0x304;
kendunlop 7:a9150dc1e481 1057 }
kendunlop 11:abd3df435a2b 1058 if (c == '5' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1059 {
kendunlop 12:e950feba910d 1060 buttonPressMessageOutText = "305 8 01 02 03 04 05 06 07 08";
kendunlop 11:abd3df435a2b 1061 idlistincrementer = 0x15B;
kendunlop 7:a9150dc1e481 1062 }
kendunlop 11:abd3df435a2b 1063 if (c == '6' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1064 {
kendunlop 11:abd3df435a2b 1065 buttonPressMessageOutText = "306 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1066 idlistincrementer = 0x306;
kendunlop 7:a9150dc1e481 1067 }
kendunlop 11:abd3df435a2b 1068 if (c == '7' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1069 {
kendunlop 11:abd3df435a2b 1070 buttonPressMessageOutText = "307 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1071 idlistincrementer = 0x307;
kendunlop 7:a9150dc1e481 1072 }
kendunlop 11:abd3df435a2b 1073 if (c == '8' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1074 {
kendunlop 11:abd3df435a2b 1075 buttonPressMessageOutText = "308 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1076 idlistincrementer = 0x308;
kendunlop 7:a9150dc1e481 1077 }
kendunlop 11:abd3df435a2b 1078 if (c == '9' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1079 {
kendunlop 11:abd3df435a2b 1080 buttonPressMessageOutText = "309 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 1081 idlistincrementer = 0x309;
kendunlop 7:a9150dc1e481 1082 }
kendunlop 11:abd3df435a2b 1083 if (c == '0' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 1084 {
kendunlop 9:7c27efe30a77 1085 buttonPressMessageOutText = "7FF 8 FF FF FF FF FF FF FF FF";//NOTE: CAN IDs only go to 7FF, not FFF.
kendunlop 10:3e15baff40e7 1086 idlistincrementer = 0x7FF;
kendunlop 10:3e15baff40e7 1087 }
kendunlop 11:abd3df435a2b 1088 if (c == 'a' and normalkeypresses == 1)
kendunlop 10:3e15baff40e7 1089 {
kendunlop 11:abd3df435a2b 1090 listen = 1;
kendunlop 11:abd3df435a2b 1091 pc.printf("Starting baud rate speed test. Mbed at %d and CAN Gateway presumed %d. (Press 'Esc' to end.)\r\n", mbedCANbusspeed / 1000, CANGatewayCANbusspeed / 1000);
kendunlop 10:3e15baff40e7 1092 pc.printf("");
kendunlop 10:3e15baff40e7 1093 resettest();
kendunlop 10:3e15baff40e7 1094 incrementer = 0x333;
kendunlop 10:3e15baff40e7 1095 spamstarttime = clock();
kendunlop 10:3e15baff40e7 1096 speedspamison = 1;
kendunlop 10:3e15baff40e7 1097 aspamisgoing = 1;
kendunlop 11:abd3df435a2b 1098 normalkeypresses = 0;
kendunlop 10:3e15baff40e7 1099 messageOut1.format = CANStandard; //Quickly define a convenient messageOut for the speed spam to use.
kendunlop 10:3e15baff40e7 1100 messageOut1.id = 0x301;
kendunlop 10:3e15baff40e7 1101 messageOut1.len = 8;
kendunlop 10:3e15baff40e7 1102 messageOut1.data[0] = 0x06;
kendunlop 10:3e15baff40e7 1103 messageOut1.data[1] = 0x3f;
kendunlop 10:3e15baff40e7 1104 messageOut1.data[2] = 0xb2;
kendunlop 10:3e15baff40e7 1105 messageOut1.data[3] = 0x29;
kendunlop 10:3e15baff40e7 1106 messageOut1.data[4] = 0x19;
kendunlop 10:3e15baff40e7 1107 messageOut1.data[5] = 0x97;
kendunlop 10:3e15baff40e7 1108 messageOut1.data[6] = 0x67;
kendunlop 10:3e15baff40e7 1109 messageOut1.data[7] = 0x37;
kendunlop 11:abd3df435a2b 1110 pc.printf("Will send out '%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X' as fast as possible.\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 10:3e15baff40e7 1111 }
kendunlop 11:abd3df435a2b 1112 if (c == 27 and speedspamison == 1)//Cancel speed spam mode
kendunlop 10:3e15baff40e7 1113 {
kendunlop 10:3e15baff40e7 1114 //pc.printf("\r\nEnding baud rate speed test mode from upper key press method.\r\n");
kendunlop 10:3e15baff40e7 1115 aspamisgoing = 0;
kendunlop 11:abd3df435a2b 1116 normalkeypresses = 1;
kendunlop 10:3e15baff40e7 1117 spamendtime = clock();
kendunlop 10:3e15baff40e7 1118 //endtest();
kendunlop 10:3e15baff40e7 1119 getspamsecondstotal();
kendunlop 10:3e15baff40e7 1120 endspeedtest();
kendunlop 10:3e15baff40e7 1121 speedspamison = 0;
kendunlop 8:6f096b45ca15 1122 }
kendunlop 8:6f096b45ca15 1123 if (buttonPressMessageOutText != "")//Centralized 'button press MessageOut' routine that applies to all button presses.
kendunlop 8:6f096b45ca15 1124 {
kendunlop 8:6f096b45ca15 1125 if (aspamisgoing == 0)
kendunlop 8:6f096b45ca15 1126 {
kendunlop 9:7c27efe30a77 1127 //addnewlineifneeded();
kendunlop 11:abd3df435a2b 1128 //resetCANbuses();
kendunlop 11:abd3df435a2b 1129 listen = 1;
kendunlop 8:6f096b45ca15 1130 messageOutText = buttonPressMessageOutText;
kendunlop 8:6f096b45ca15 1131 addnewlinetonextmessage = 1;
kendunlop 8:6f096b45ca15 1132 checklaterbytes = 1;//Check all bytes for button-press messages.
kendunlop 8:6f096b45ca15 1133 }
kendunlop 8:6f096b45ca15 1134 buttonPressMessageOutText = "";
kendunlop 7:a9150dc1e481 1135 }
kendunlop 11:abd3df435a2b 1136 if (c == '/' and normalkeypresses == 1)
kendunlop 11:abd3df435a2b 1137 {
kendunlop 11:abd3df435a2b 1138 displayhelp();
kendunlop 11:abd3df435a2b 1139 }
kendunlop 11:abd3df435a2b 1140 if (c == '?' and normalkeypresses == 1)
kendunlop 11:abd3df435a2b 1141 {
kendunlop 11:abd3df435a2b 1142 displayhelp();
kendunlop 11:abd3df435a2b 1143 }
kendunlop 11:abd3df435a2b 1144 if (c == 'q' and normalkeypresses == 1)
kendunlop 3:79133dcea836 1145 {
kendunlop 9:7c27efe30a77 1146 pc.printf("Changing Mbed CAN bus speed to 125.\r\n");
kendunlop 3:79133dcea836 1147 CanBus.frequency(125 * 1000); // CAN bus at 125k
kendunlop 5:bf4c6278ca8b 1148 CanBus2.frequency(125 * 1000); // CAN bus at 125k
kendunlop 9:7c27efe30a77 1149 mbedCANbusspeed = (125 * 1000);
kendunlop 3:79133dcea836 1150 }
kendunlop 11:abd3df435a2b 1151 if (c == 'w' and normalkeypresses == 1)
kendunlop 3:79133dcea836 1152 {
kendunlop 9:7c27efe30a77 1153 pc.printf("Changing Mbed CAN bus speed to 250.\r\n");
kendunlop 3:79133dcea836 1154 CanBus.frequency(250 * 1000); // CAN bus at 250k
kendunlop 5:bf4c6278ca8b 1155 CanBus2.frequency(250 * 1000); // CAN bus at 250k
kendunlop 9:7c27efe30a77 1156 mbedCANbusspeed = (250 * 1000);
kendunlop 3:79133dcea836 1157 }
kendunlop 11:abd3df435a2b 1158 if (c == 'e' and normalkeypresses == 1)
kendunlop 3:79133dcea836 1159 {
kendunlop 9:7c27efe30a77 1160 pc.printf("Changing Mbed CAN bus speed to 500.\r\n");
kendunlop 3:79133dcea836 1161 CanBus.frequency(500 * 1000); // CAN bus at 500k
kendunlop 3:79133dcea836 1162 CanBus2.frequency(500 * 1000);// CAN bus at 500k
kendunlop 9:7c27efe30a77 1163 mbedCANbusspeed = (500 * 1000);
kendunlop 3:79133dcea836 1164 }
kendunlop 11:abd3df435a2b 1165 if (c == 'r' and normalkeypresses == 1)
kendunlop 3:79133dcea836 1166 {
kendunlop 9:7c27efe30a77 1167 pc.printf("Changing Mbed CAN bus speed to 1000.\r\n");
kendunlop 3:79133dcea836 1168 CanBus.frequency(1000 * 1000); // CAN bus at 1000k
kendunlop 3:79133dcea836 1169 CanBus2.frequency(1000 * 1000); // CAN bus at 1000k
kendunlop 9:7c27efe30a77 1170 mbedCANbusspeed = (1000 * 1000);
kendunlop 3:79133dcea836 1171 }
kendunlop 11:abd3df435a2b 1172 if (c == 't' and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 1173 {
kendunlop 9:7c27efe30a77 1174 CANGatewayCANbusspeed = (125 * 1000);
kendunlop 9:7c27efe30a77 1175 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 1176 }
kendunlop 11:abd3df435a2b 1177 if (c == 'y' and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 1178 {
kendunlop 9:7c27efe30a77 1179 CANGatewayCANbusspeed = (250 * 1000);
kendunlop 9:7c27efe30a77 1180 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 1181 }
kendunlop 11:abd3df435a2b 1182 if (c == 'u' and normalkeypresses == 1)
kendunlop 8:6f096b45ca15 1183 {
kendunlop 9:7c27efe30a77 1184 CANGatewayCANbusspeed = (500 * 1000);
kendunlop 9:7c27efe30a77 1185 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 1186 }
kendunlop 11:abd3df435a2b 1187 if (c == 'i' and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 1188 {
kendunlop 9:7c27efe30a77 1189 CANGatewayCANbusspeed = (1000 * 1000);
kendunlop 9:7c27efe30a77 1190 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 1191 }
kendunlop 11:abd3df435a2b 1192 if (c == 'k' and normalkeypresses == 1)
kendunlop 11:abd3df435a2b 1193 {
kendunlop 11:abd3df435a2b 1194 pc.printf("Will enter custom CAN entry mode. (Press 'Esc' to end.)\r\nEnter CAN ID to send: ");
kendunlop 11:abd3df435a2b 1195 customentry = 1;
kendunlop 11:abd3df435a2b 1196 normalkeypresses = 0;
kendunlop 11:abd3df435a2b 1197 c = NULL;
kendunlop 11:abd3df435a2b 1198 customentrystring = "";
kendunlop 11:abd3df435a2b 1199 }
kendunlop 11:abd3df435a2b 1200 if (c == 27 and customentry == 1)//Pressing Esc ends Custom Entry mode
kendunlop 11:abd3df435a2b 1201 {
kendunlop 11:abd3df435a2b 1202 customentry = 0;
kendunlop 11:abd3df435a2b 1203 normalkeypresses = 1;
kendunlop 11:abd3df435a2b 1204 pc.printf("\r\nEnding custom entry mode.\r\n");
kendunlop 11:abd3df435a2b 1205 c = NULL;
kendunlop 11:abd3df435a2b 1206 }
kendunlop 11:abd3df435a2b 1207 if (c == 13 and customentry == 1 and customentrystring != "")//Pressing enter in Custom Entry mode tries to send a CAN message
kendunlop 11:abd3df435a2b 1208 {
kendunlop 11:abd3df435a2b 1209 pc.printf("\r\n");
kendunlop 11:abd3df435a2b 1210 //pc.printf("Will try to confirm CES ('%s').\r\n", customentrystring);
kendunlop 11:abd3df435a2b 1211 if (customentrystring.length() < 3)
kendunlop 11:abd3df435a2b 1212 {
kendunlop 11:abd3df435a2b 1213 customentrystring = "0" + customentrystring;
kendunlop 11:abd3df435a2b 1214 }
kendunlop 11:abd3df435a2b 1215 if (customentrystring.length() < 3)
kendunlop 11:abd3df435a2b 1216 {
kendunlop 11:abd3df435a2b 1217 customentrystring = "0" + customentrystring;
kendunlop 11:abd3df435a2b 1218 }
kendunlop 11:abd3df435a2b 1219 checklaterbytes = 1;
kendunlop 11:abd3df435a2b 1220 partincrement = 0;
kendunlop 11:abd3df435a2b 1221 part = customentrystring;
kendunlop 11:abd3df435a2b 1222 dealwithpart();
kendunlop 11:abd3df435a2b 1223 //pc.printf("Hextotal now says '%d'.\r\n", hextotal);
kendunlop 11:abd3df435a2b 1224 if (hextotal > 0x7FF)//If the measured total is more than 0x7FF (the max ID), reduce it.
kendunlop 11:abd3df435a2b 1225 {
kendunlop 11:abd3df435a2b 1226 hextotal = 0x7FF;
kendunlop 11:abd3df435a2b 1227 customentrystring = "7FF";
kendunlop 11:abd3df435a2b 1228 }
kendunlop 11:abd3df435a2b 1229 if (hextotal < 0) // If the measured total is less than zero, make it zero instead.
kendunlop 11:abd3df435a2b 1230 {
kendunlop 11:abd3df435a2b 1231 hextotal = 0x000;
kendunlop 11:abd3df435a2b 1232 customentrystring = "000";
kendunlop 11:abd3df435a2b 1233 }
kendunlop 11:abd3df435a2b 1234 messageOutText = customentrystring + " 8 01 02 03 04 05 06 07 08";
kendunlop 11:abd3df435a2b 1235 customentrystring = "";
kendunlop 11:abd3df435a2b 1236 if (expectationresolved == 1 and messageOutText == "")
kendunlop 11:abd3df435a2b 1237 {
kendunlop 11:abd3df435a2b 1238 pc.printf("Enter CAN ID to send: ");
kendunlop 11:abd3df435a2b 1239 }
kendunlop 11:abd3df435a2b 1240 }
kendunlop 11:abd3df435a2b 1241 if (c != NULL and customentry == 1 and expectationresolved == 1 and messageOutText == "")
kendunlop 11:abd3df435a2b 1242 {
kendunlop 11:abd3df435a2b 1243 //pc.printf("Custom entry detected! (%c)\r\n", c);
kendunlop 11:abd3df435a2b 1244 if (c != '\r' and c != 8 and customentrystring.length() < 3) //Normal key presses add to the custom string.
kendunlop 11:abd3df435a2b 1245 {
kendunlop 11:abd3df435a2b 1246 customentrystring.push_back(toupper(c));
kendunlop 11:abd3df435a2b 1247 //pc.printf("Custom entry string now says '%s'.", customentrystring);
kendunlop 11:abd3df435a2b 1248 }
kendunlop 11:abd3df435a2b 1249 if (c == 8 and customentrystring.length() > 0) //Backspace (character 8) causes the text to go back one character.
kendunlop 11:abd3df435a2b 1250 {
kendunlop 11:abd3df435a2b 1251 pc.printf("\b ");
kendunlop 11:abd3df435a2b 1252 customentrystring.erase(customentrystring.size()-1,1);
kendunlop 11:abd3df435a2b 1253 }
kendunlop 11:abd3df435a2b 1254 pc.printf("\rEnter CAN ID to send: %s", customentrystring);
kendunlop 11:abd3df435a2b 1255 }
kendunlop 11:abd3df435a2b 1256 if (c == 'n' and CANpassthrough == 0 and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 1257 {
kendunlop 9:7c27efe30a77 1258 pc.printf("Starting CAN passthrough mode. Will expect to recieve the same CAN that is sent.\r\n");
kendunlop 9:7c27efe30a77 1259 CANpassthrough = 1;
kendunlop 9:7c27efe30a77 1260 }
kendunlop 12:e950feba910d 1261 if (c == 'm' and normalkeypresses == 1) //New menu to select multiple expectation tables
kendunlop 9:7c27efe30a77 1262 {
kendunlop 12:e950feba910d 1263 normalkeypresses = 0; //Go out of 'normal key presses' mode.
kendunlop 12:e950feba910d 1264 pc.printf("Now entering Expectation Table mode. Press the number keys to activate different expectation tables.\r\n");
kendunlop 12:e950feba910d 1265 tablesmode = 1;
kendunlop 8:6f096b45ca15 1266 }
kendunlop 12:e950feba910d 1267 if (c != NULL and tablesmode == 1)
kendunlop 12:e950feba910d 1268 {
kendunlop 12:e950feba910d 1269 tablesmodekeypress();
kendunlop 12:e950feba910d 1270 }
kendunlop 8:6f096b45ca15 1271 if (c == 'o' and idspamon == 0 and spamon == 1)
kendunlop 3:79133dcea836 1272 {
kendunlop 3:79133dcea836 1273 incrementer = (incrementer * 16);
kendunlop 10:3e15baff40e7 1274 pc.printf("\n\rMultiplied Incrementer by 16. It's now %d.\r\n", incrementer);
kendunlop 3:79133dcea836 1275 }
kendunlop 9:7c27efe30a77 1276 if (c == 'i' and spamon == 1)
kendunlop 1:19d183cf2689 1277 {
kendunlop 1:19d183cf2689 1278 incrementer = incrementer + 16;
kendunlop 1:19d183cf2689 1279 std::stringstream sstream;
kendunlop 1:19d183cf2689 1280 sstream << std::hex << incrementer;
kendunlop 1:19d183cf2689 1281 string stringsofar = sstream.str();
kendunlop 1:19d183cf2689 1282 //pc.printf("Incrementer is now %d.\r\n", incrementer);
kendunlop 1:19d183cf2689 1283 //pc.printf("StringStream says '%s'.\r\n", stringsofar);
kendunlop 1:19d183cf2689 1284 int length = stringsofar.length();
kendunlop 1:19d183cf2689 1285 //pc.printf("Length is %d/16.\r\n", length);
kendunlop 1:19d183cf2689 1286 for (int i = 0; i < (16-length); i++)
kendunlop 1:19d183cf2689 1287 stringsofar = "0" + stringsofar;
kendunlop 1:19d183cf2689 1288 //pc.printf("stringsofar says '%s'.\r\n", stringsofar);
kendunlop 9:7c27efe30a77 1289 //messageOutText = "305 8 " + stringsofar;
kendunlop 1:19d183cf2689 1290 //pc.printf("Will try to send '%s'.\r\n", messageOutText);
kendunlop 1:19d183cf2689 1291 }
kendunlop 1:19d183cf2689 1292 messageOut1.format = CANStandard;
kendunlop 11:abd3df435a2b 1293 if (c == 'z' and normalkeypresses == 1)
kendunlop 1:19d183cf2689 1294 {
kendunlop 7:a9150dc1e481 1295 resettest();
kendunlop 11:abd3df435a2b 1296 pc.printf("Starting spam sequence for ID %s. Press 'Esc' to end. Press 'o' to increase incrementer.\r\n", spampreamble);
kendunlop 10:3e15baff40e7 1297 idlistincrementer = 0x333;
kendunlop 10:3e15baff40e7 1298 reportbaudrates();
kendunlop 1:19d183cf2689 1299 spamon = 1;
kendunlop 8:6f096b45ca15 1300 aspamisgoing = 1;
kendunlop 11:abd3df435a2b 1301 normalkeypresses = 0;
kendunlop 8:6f096b45ca15 1302 checklaterbytes = 1;
kendunlop 1:19d183cf2689 1303 incrementer = 0;
kendunlop 2:11339018dda6 1304 spamcount = 0;
kendunlop 3:79133dcea836 1305 spamstarttime = clock();
kendunlop 9:7c27efe30a77 1306 //pc.printf("Spam start time is %d.\r\n", spamstarttime);
kendunlop 1:19d183cf2689 1307 }
kendunlop 11:abd3df435a2b 1308 if (c == 27 and spamon == 1)//Cancel normal '333' incrementing spam mode
kendunlop 1:19d183cf2689 1309 {
kendunlop 10:3e15baff40e7 1310 pc.printf("\r\n");
kendunlop 8:6f096b45ca15 1311 spamon = 2;
kendunlop 8:6f096b45ca15 1312 aspamisgoing = 0;
kendunlop 11:abd3df435a2b 1313 normalkeypresses = 1;
kendunlop 3:79133dcea836 1314 spamendtime = clock();
kendunlop 9:7c27efe30a77 1315 getspamsecondstotal();//Process the spam information
kendunlop 9:7c27efe30a77 1316 //pc.printf("Total spams ever are %d.\r\n", totalspamsever);
kendunlop 7:a9150dc1e481 1317 endtest();
kendunlop 7:a9150dc1e481 1318 //pc.printf("-------------------------\r\n");
kendunlop 3:79133dcea836 1319 }
kendunlop 11:abd3df435a2b 1320 if (c == 27 and idspamon == 1)//Cancel CAN ID spam mode
kendunlop 11:abd3df435a2b 1321 {
kendunlop 11:abd3df435a2b 1322 //pc.printf("Cancelling ID test mode.\r\n");
kendunlop 11:abd3df435a2b 1323 testwasaborted = 1;
kendunlop 11:abd3df435a2b 1324 endidspamtest();
kendunlop 11:abd3df435a2b 1325 normalkeypresses = 1;
kendunlop 11:abd3df435a2b 1326 }
kendunlop 11:abd3df435a2b 1327 if (c == 'v' and normalkeypresses == 1)
kendunlop 3:79133dcea836 1328 {
kendunlop 7:a9150dc1e481 1329 resettest();
kendunlop 6:2882710e4f1e 1330 idspamon = 1; //Set the 'idspamon' integer to 1 so ID spam happens.
kendunlop 8:6f096b45ca15 1331 aspamisgoing = 1;
kendunlop 11:abd3df435a2b 1332 normalkeypresses = 0;
kendunlop 11:abd3df435a2b 1333 checklaterbytes = 1;
kendunlop 6:2882710e4f1e 1334 idlistincrementer = 0;
kendunlop 11:abd3df435a2b 1335 pc.printf("Beginning check of all possible CAN IDs (000 - 7FF). Press 'Esc' to abort.\r\n");
kendunlop 10:3e15baff40e7 1336 reportbaudrates();
kendunlop 9:7c27efe30a77 1337 spamstarttime = clock();
kendunlop 9:7c27efe30a77 1338 //pc.printf("Spam started at clock time %d.\r\n", spamstarttime);
kendunlop 8:6f096b45ca15 1339 if (checklaterbytes == 0)
kendunlop 8:6f096b45ca15 1340 {
kendunlop 8:6f096b45ca15 1341 pc.printf("Will only check CAN IDs, not later bytes.\r\n");
kendunlop 8:6f096b45ca15 1342 }
kendunlop 11:abd3df435a2b 1343 if (checklaterbytes == 1)
kendunlop 11:abd3df435a2b 1344 {
kendunlop 11:abd3df435a2b 1345 pc.printf("Will check all bytes in each CAN message.\r\n");
kendunlop 11:abd3df435a2b 1346 }
kendunlop 1:19d183cf2689 1347 }
kendunlop 10:3e15baff40e7 1348 if (messageOutText != "" and speedspamison == 0)
kendunlop 1:19d183cf2689 1349 {
kendunlop 6:2882710e4f1e 1350 getCANfrommessageOutText();
kendunlop 7:a9150dc1e481 1351 sendCAN();
kendunlop 7:a9150dc1e481 1352 //CanBus.write(messageOut1);
kendunlop 7:a9150dc1e481 1353 //CanBus2.write(messageOut1);
kendunlop 6:2882710e4f1e 1354 if (spamon == 0 and idspamon == 0)
kendunlop 3:79133dcea836 1355 {
kendunlop 7:a9150dc1e481 1356 //printMessageOut();
kendunlop 3:79133dcea836 1357 }
kendunlop 3:79133dcea836 1358 messageOutText = "";
kendunlop 1:19d183cf2689 1359 }
kendunlop 5:bf4c6278ca8b 1360 }
kendunlop 4:e8e9bc25b1ca 1361 }
kendunlop 5:bf4c6278ca8b 1362
kendunlop 4:e8e9bc25b1ca 1363
kendunlop 7:a9150dc1e481 1364 //If spam mode is on, spam an incrementing CAN message
kendunlop 8:6f096b45ca15 1365 if (spamon == 1 and expectationresolved == 1)
kendunlop 5:bf4c6278ca8b 1366 {
kendunlop 5:bf4c6278ca8b 1367 spamcount ++;
kendunlop 5:bf4c6278ca8b 1368 totalspamsever ++;
kendunlop 5:bf4c6278ca8b 1369 incrementer ++;
kendunlop 5:bf4c6278ca8b 1370 std::stringstream sstream;
kendunlop 5:bf4c6278ca8b 1371 sstream << std::hex << incrementer;
kendunlop 5:bf4c6278ca8b 1372 string stringsofar = sstream.str();
kendunlop 5:bf4c6278ca8b 1373 int length = stringsofar.length();
kendunlop 5:bf4c6278ca8b 1374 for (int i = 0; i < (16-length); i++)
kendunlop 5:bf4c6278ca8b 1375 stringsofar = "0" + stringsofar;
kendunlop 6:2882710e4f1e 1376 messageOutText = spampreamble + " 8 " + stringsofar;
kendunlop 6:2882710e4f1e 1377 getCANfrommessageOutText();
kendunlop 7:a9150dc1e481 1378 sendCAN();
kendunlop 5:bf4c6278ca8b 1379 }
kendunlop 8:6f096b45ca15 1380 if (idspamon == 1 and idlistincrementer >= 2048 and expectationresolved == 1) //If the spam value gets to 2048 (7FF), end the spam sequence. RL only go up to 7FF.
kendunlop 8:6f096b45ca15 1381 {
kendunlop 11:abd3df435a2b 1382 endidspamtest();
kendunlop 8:6f096b45ca15 1383 }
kendunlop 8:6f096b45ca15 1384 if (idspamon == 1 and expectationresolved == 1)
kendunlop 6:2882710e4f1e 1385 {
kendunlop 9:7c27efe30a77 1386 spamcount++;
kendunlop 6:2882710e4f1e 1387 std::stringstream sstream;
kendunlop 6:2882710e4f1e 1388 sstream << std::hex << idlistincrementer;
kendunlop 6:2882710e4f1e 1389 string idstring = "";
kendunlop 6:2882710e4f1e 1390 idstring = sstream.str();
kendunlop 6:2882710e4f1e 1391 //pc.printf("idstring says '%s'\r\n", idstring);
kendunlop 6:2882710e4f1e 1392 if (idstring.length() < 3)
kendunlop 6:2882710e4f1e 1393 {
kendunlop 6:2882710e4f1e 1394 for (int i = 0; i < (4 - idstring.length()); i++)
kendunlop 6:2882710e4f1e 1395 {
kendunlop 6:2882710e4f1e 1396 idstring = "0" + idstring;
kendunlop 6:2882710e4f1e 1397 }
kendunlop 6:2882710e4f1e 1398 }
kendunlop 6:2882710e4f1e 1399 //pc.printf("idstring now says '%s'\r\n", idstring);
kendunlop 6:2882710e4f1e 1400 //pc.printf("%s\r\n", idstring);
kendunlop 7:a9150dc1e481 1401 idstring = idstring + " 8 01 02 03 04 05 06 07 08";
kendunlop 6:2882710e4f1e 1402 //pc.printf("...and now idstring now says '%s'\r\n", idstring);
kendunlop 6:2882710e4f1e 1403 messageOutText = idstring;
kendunlop 6:2882710e4f1e 1404 getCANfrommessageOutText();
kendunlop 7:a9150dc1e481 1405 sendCAN();
kendunlop 7:a9150dc1e481 1406 //CanBus.write(messageOut1);
kendunlop 7:a9150dc1e481 1407 //CanBus2.write(messageOut1);
kendunlop 6:2882710e4f1e 1408 //pc.printf("ID list incrementer is now %d\r\n", idlistincrementer);
kendunlop 6:2882710e4f1e 1409 wait(0.01);//ID spam at 100Hz
kendunlop 6:2882710e4f1e 1410 }
kendunlop 11:abd3df435a2b 1411
kendunlop 11:abd3df435a2b 1412 //Optional: mention any un-listened-to CAN messages. Having this stopped it from reading messages in when listen was on.
kendunlop 11:abd3df435a2b 1413 //if (CanBus2.read(messageIn) and listen == 0)
kendunlop 10:3e15baff40e7 1414 // {
kendunlop 11:abd3df435a2b 1415 // pc.printf("(Un-listened-to CAN message came in.)\r\n");
kendunlop 10:3e15baff40e7 1416 // }
kendunlop 11:abd3df435a2b 1417
kendunlop 11:abd3df435a2b 1418 //Check for CAN messages coming in
kendunlop 11:abd3df435a2b 1419 if (CanBus2.read(messageIn) and listen == 1)
kendunlop 7:a9150dc1e481 1420 {
kendunlop 10:3e15baff40e7 1421 if (speedspamison == 1)
kendunlop 9:7c27efe30a77 1422 {
kendunlop 10:3e15baff40e7 1423 messagesincount++;
kendunlop 10:3e15baff40e7 1424 //pc.printf("\033[0;36m Speed spam message IN: %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m\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 8:6f096b45ca15 1425 }
kendunlop 10:3e15baff40e7 1426 if (speedspamison == 0)
kendunlop 7:a9150dc1e481 1427 {
kendunlop 10:3e15baff40e7 1428 //pc.printf("\033[0;36mNormal message IN: %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m\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 10:3e15baff40e7 1429 if (noreplystreak > 0)
kendunlop 9:7c27efe30a77 1430 {
kendunlop 10:3e15baff40e7 1431 noreplystreak = 0;
kendunlop 10:3e15baff40e7 1432 noreplystreakstartid = 0;
kendunlop 10:3e15baff40e7 1433 pc.printf("\r\n\n");
kendunlop 10:3e15baff40e7 1434 }
kendunlop 10:3e15baff40e7 1435 if (goodnoreplystreak > 0)
kendunlop 10:3e15baff40e7 1436 {
kendunlop 10:3e15baff40e7 1437 goodnoreplystreak = 0;
kendunlop 10:3e15baff40e7 1438 goodnoreplystreakstartid = 0;
kendunlop 11:abd3df435a2b 1439 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1440 {
kendunlop 11:abd3df435a2b 1441 pc.printf("\r\n\n");
kendunlop 11:abd3df435a2b 1442 }
kendunlop 9:7c27efe30a77 1443 }
kendunlop 10:3e15baff40e7 1444 CANCount++;
kendunlop 10:3e15baff40e7 1445 if (1 == 1)//Prepare to print out the message coming in
kendunlop 7:a9150dc1e481 1446 {
kendunlop 10:3e15baff40e7 1447 //Data shouldn't come in at all if 'shouldntcomein' is 1!
kendunlop 11:abd3df435a2b 1448 //pc.printf("Wah! Unexpected CAN came in!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n");
kendunlop 10:3e15baff40e7 1449 if (shouldntcomein == 1)
kendunlop 9:7c27efe30a77 1450 {
kendunlop 11:abd3df435a2b 1451 if (failsstreak > 0)
kendunlop 11:abd3df435a2b 1452 {
kendunlop 11:abd3df435a2b 1453 failsstreak = 0;
kendunlop 11:abd3df435a2b 1454 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 1455 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1456 {
kendunlop 11:abd3df435a2b 1457 pc.printf("\n\n\r");
kendunlop 11:abd3df435a2b 1458 }
kendunlop 11:abd3df435a2b 1459 }
kendunlop 10:3e15baff40e7 1460 if (unexpectedCANstreak == 0)//If it's the start of a new unexpected-CAN streak, mark the starting ID.
kendunlop 10:3e15baff40e7 1461 {
kendunlop 10:3e15baff40e7 1462 unexpectedCANstreakstartid = idlistincrementer;
kendunlop 10:3e15baff40e7 1463 }
kendunlop 10:3e15baff40e7 1464 if (aspamisgoing == 0)
kendunlop 10:3e15baff40e7 1465 {
kendunlop 10:3e15baff40e7 1466 unexpectedCANstreakstartid = idlistincrementer;
kendunlop 10:3e15baff40e7 1467 }
kendunlop 11:abd3df435a2b 1468 reportsentCAN();
kendunlop 10:3e15baff40e7 1469 if (unexpectedCANstreakstartid != idlistincrementer)
kendunlop 10:3e15baff40e7 1470 {
kendunlop 10:3e15baff40e7 1471 pc.printf("\033[0;35mUnexpected data came in for IDs %03X to %03X!\033[0m", unexpectedCANstreakstartid, idlistincrementer);
kendunlop 10:3e15baff40e7 1472 }
kendunlop 10:3e15baff40e7 1473 if (unexpectedCANstreakstartid == idlistincrementer)
kendunlop 10:3e15baff40e7 1474 {
kendunlop 10:3e15baff40e7 1475 pc.printf("\033[0;35mUnexpected data came in for %03X!\033[0m", idlistincrementer);
kendunlop 10:3e15baff40e7 1476 }
kendunlop 10:3e15baff40e7 1477 failsthistest++;
kendunlop 10:3e15baff40e7 1478 unexpectedCANfails++;
kendunlop 10:3e15baff40e7 1479 unexpectedCANstreak++;
kendunlop 10:3e15baff40e7 1480 }
kendunlop 10:3e15baff40e7 1481 //Establish earlier whether it's a match in the 10 places
kendunlop 10:3e15baff40e7 1482 int itsamatch = 1;
kendunlop 10:3e15baff40e7 1483 if (expected1 != messageIn.id)
kendunlop 10:3e15baff40e7 1484 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1485 if (expected2 != messageIn.len and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1486 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1487 if (expected3 != messageIn.data[0] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1488 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1489 if (expected4 != messageIn.data[1] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1490 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1491 if (expected5 != messageIn.data[2] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1492 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1493 if (expected6 != messageIn.data[3] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1494 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1495 if (expected7 != messageIn.data[4] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1496 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1497 if (expected8 != messageIn.data[5] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1498 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1499 if (expected9 != messageIn.data[6] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1500 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1501 if (expected10 != messageIn.data[7] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1502 {itsamatch = 0;}
kendunlop 11:abd3df435a2b 1503
kendunlop 10:3e15baff40e7 1504 if (itsamatch == 0 and shouldntcomein == 0)
kendunlop 10:3e15baff40e7 1505 {
kendunlop 12:e950feba910d 1506 if (goodnoreplystreak > 0)
kendunlop 12:e950feba910d 1507 {
kendunlop 12:e950feba910d 1508 goodnoreplystreak = 0;
kendunlop 12:e950feba910d 1509 goodnoreplystreakstartid = 0;
kendunlop 12:e950feba910d 1510 if (aspamisgoing == 1)
kendunlop 12:e950feba910d 1511 {
kendunlop 12:e950feba910d 1512 pc.printf("\r\n\n");
kendunlop 12:e950feba910d 1513 }
kendunlop 12:e950feba910d 1514 }
kendunlop 12:e950feba910d 1515 if (failsstreak > 0)
kendunlop 12:e950feba910d 1516 {
kendunlop 12:e950feba910d 1517 failsstreak = 0;
kendunlop 12:e950feba910d 1518 failsstreakstart = 0;
kendunlop 12:e950feba910d 1519 if (aspamisgoing == 1)
kendunlop 12:e950feba910d 1520 {
kendunlop 12:e950feba910d 1521 pc.printf("\r\n\n");
kendunlop 12:e950feba910d 1522 }
kendunlop 12:e950feba910d 1523 }
kendunlop 12:e950feba910d 1524 if (CANmatchstreak > 0)
kendunlop 12:e950feba910d 1525 {
kendunlop 12:e950feba910d 1526 CANmatchstreak = 0;
kendunlop 12:e950feba910d 1527 CANmatchstreakstartID = 0;
kendunlop 12:e950feba910d 1528 if (aspamisgoing == 1)
kendunlop 12:e950feba910d 1529 {
kendunlop 12:e950feba910d 1530 pc.printf("\r\n\n");
kendunlop 12:e950feba910d 1531 }
kendunlop 12:e950feba910d 1532 }
kendunlop 11:abd3df435a2b 1533 if (failsstreak == 0)
kendunlop 11:abd3df435a2b 1534 {
kendunlop 11:abd3df435a2b 1535 failsstreakstart = idlistincrementer;
kendunlop 11:abd3df435a2b 1536 }
kendunlop 11:abd3df435a2b 1537 failsstreak++;
kendunlop 11:abd3df435a2b 1538 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1539 {
kendunlop 11:abd3df435a2b 1540 failsstreakstart = idlistincrementer;
kendunlop 11:abd3df435a2b 1541 }
kendunlop 11:abd3df435a2b 1542 reportsentCAN(); //Report sent CAN before any 'does not match...' messages
kendunlop 11:abd3df435a2b 1543 if (failsstreakstart == idlistincrementer)
kendunlop 11:abd3df435a2b 1544 {
kendunlop 11:abd3df435a2b 1545 pc.printf("\033[0;31mData for ID %03X does not match expectation!\033[0m", idlistincrementer);
kendunlop 11:abd3df435a2b 1546 }
kendunlop 11:abd3df435a2b 1547 if (failsstreakstart != idlistincrementer)
kendunlop 11:abd3df435a2b 1548 {
kendunlop 11:abd3df435a2b 1549 pc.printf("\033[0;31mData for IDs %03X to %03X does not match expectation!\033[0m", failsstreakstart, idlistincrementer);
kendunlop 11:abd3df435a2b 1550 }
kendunlop 11:abd3df435a2b 1551 }
kendunlop 11:abd3df435a2b 1552 //Decide if a message in will need to be printed ('Message received was:...')
kendunlop 11:abd3df435a2b 1553 messageinisneeded = 0;
kendunlop 11:abd3df435a2b 1554 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1555 {messageinisneeded = 1;}
kendunlop 11:abd3df435a2b 1556 //if (itsamatch == 0 and shouldntcomein == 0)
kendunlop 11:abd3df435a2b 1557 // {messageinisneeded = 1;}
kendunlop 11:abd3df435a2b 1558 if (reportfailsindividually == 1)
kendunlop 11:abd3df435a2b 1559 {messageinisneeded = 1;}
kendunlop 11:abd3df435a2b 1560 // If a message in is destined to be printed, reset the failsstreak if needed
kendunlop 11:abd3df435a2b 1561 if (messageinisneeded == 1 and failsstreak > 0)
kendunlop 11:abd3df435a2b 1562 {
kendunlop 11:abd3df435a2b 1563 failsstreak = 0;
kendunlop 11:abd3df435a2b 1564 failsstreakstart = 0;
kendunlop 10:3e15baff40e7 1565 }
kendunlop 10:3e15baff40e7 1566 // Once it's known whether the data matches expectation, set the match streak
kendunlop 10:3e15baff40e7 1567 if (itsamatch == 1 and shouldntcomein == 0)
kendunlop 10:3e15baff40e7 1568 {
kendunlop 11:abd3df435a2b 1569 if (failsstreak > 0)
kendunlop 11:abd3df435a2b 1570 {
kendunlop 11:abd3df435a2b 1571 failsstreak = 0;
kendunlop 11:abd3df435a2b 1572 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 1573 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1574 {
kendunlop 11:abd3df435a2b 1575 pc.printf("\r\n\n");
kendunlop 11:abd3df435a2b 1576 }
kendunlop 11:abd3df435a2b 1577 }
kendunlop 10:3e15baff40e7 1578 if (CANmatchstreak == 0)
kendunlop 10:3e15baff40e7 1579 {
kendunlop 10:3e15baff40e7 1580 CANmatchstreakstartID = idlistincrementer;
kendunlop 10:3e15baff40e7 1581 }
kendunlop 10:3e15baff40e7 1582 CANmatchstreak++;
kendunlop 10:3e15baff40e7 1583 }
kendunlop 10:3e15baff40e7 1584 if (itsamatch == 0 and CANmatchstreak > 0) //If it's NOT a match, break any CANmatchstreak
kendunlop 10:3e15baff40e7 1585 {
kendunlop 10:3e15baff40e7 1586 CANmatchstreak = 0;
kendunlop 10:3e15baff40e7 1587 CANmatchstreakstartID = 0;
kendunlop 10:3e15baff40e7 1588 }
kendunlop 10:3e15baff40e7 1589 // Print needed message
kendunlop 11:abd3df435a2b 1590 reportsentCAN();
kendunlop 10:3e15baff40e7 1591 if (messageinisneeded == 0) //If a message in is NOT needed, simply report what the CAN is doing on the same line.
kendunlop 10:3e15baff40e7 1592 {
kendunlop 10:3e15baff40e7 1593 if (itsamatch == 1 and CANmatchstreakstartID == idlistincrementer and CANmatchstreak > 0)
kendunlop 10:3e15baff40e7 1594 {
kendunlop 10:3e15baff40e7 1595 pc.printf("\033[0;32mCAN matches expected values on ID %03X.\033[0m", idlistincrementer);
kendunlop 10:3e15baff40e7 1596 }
kendunlop 10:3e15baff40e7 1597 if (itsamatch == 1 and CANmatchstreakstartID != idlistincrementer and CANmatchstreak > 0)
kendunlop 10:3e15baff40e7 1598 {
kendunlop 10:3e15baff40e7 1599 pc.printf("\033[0;32mCAN matches expected values from IDs %03X to %03X.\033[0m", CANmatchstreakstartID, idlistincrementer);
kendunlop 10:3e15baff40e7 1600 }
kendunlop 9:7c27efe30a77 1601 }
kendunlop 10:3e15baff40e7 1602 if (messageinisneeded == 1) //Only if message in is needed do you need to look at printing each part of the message
kendunlop 9:7c27efe30a77 1603 {
kendunlop 10:3e15baff40e7 1604 pc.printf("\r\nMessage received was: ");
kendunlop 10:3e15baff40e7 1605 if (expected1 != messageIn.id)
kendunlop 10:3e15baff40e7 1606 {
kendunlop 10:3e15baff40e7 1607 //pc.printf("\r\nID of %d does NOT match %d.\r\n", messageIn.id, expected1);
kendunlop 10:3e15baff40e7 1608 pc.printf("\033[1;31m%03X\033[0m ", messageIn.id);//Show the ID in red if it doesn't match.
kendunlop 10:3e15baff40e7 1609 }
kendunlop 10:3e15baff40e7 1610 if (expected1 == messageIn.id)
kendunlop 10:3e15baff40e7 1611 {
kendunlop 10:3e15baff40e7 1612 pc.printf("\033[1;32m%03X\033[0m ", messageIn.id);//Show the ID in green if it matches.
kendunlop 10:3e15baff40e7 1613 }
kendunlop 10:3e15baff40e7 1614 if (expected2 != messageIn.len and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1615 {
kendunlop 10:3e15baff40e7 1616 //pc.printf("Length of %d does NOT match %d.\r\n", messageIn.len, expected2);
kendunlop 10:3e15baff40e7 1617 pc.printf("\033[1;31m%01X\033[0m ", messageIn.len);
kendunlop 10:3e15baff40e7 1618 }
kendunlop 10:3e15baff40e7 1619 else
kendunlop 10:3e15baff40e7 1620 {
kendunlop 11:abd3df435a2b 1621 pc.printf("\033[1;32m%01X\033[0m ", messageIn.len);
kendunlop 10:3e15baff40e7 1622 }
kendunlop 10:3e15baff40e7 1623 if (expected3 != messageIn.data[0] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1624 {
kendunlop 10:3e15baff40e7 1625 //pc.printf("Data 0 of %d does NOT match %d.\r\n", messageIn.data[0], expected3);
kendunlop 10:3e15baff40e7 1626 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[0]);
kendunlop 10:3e15baff40e7 1627 }
kendunlop 10:3e15baff40e7 1628 else
kendunlop 10:3e15baff40e7 1629 {
kendunlop 11:abd3df435a2b 1630 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[0]);
kendunlop 10:3e15baff40e7 1631 }
kendunlop 10:3e15baff40e7 1632 if (expected4 != messageIn.data[1] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1633 {
kendunlop 10:3e15baff40e7 1634 //pc.printf("Data 1 of %d does NOT match %d.\r\n", messageIn.data[1], expected4);
kendunlop 10:3e15baff40e7 1635 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[1]);
kendunlop 10:3e15baff40e7 1636 }
kendunlop 10:3e15baff40e7 1637 else
kendunlop 10:3e15baff40e7 1638 {
kendunlop 11:abd3df435a2b 1639 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[1]);
kendunlop 10:3e15baff40e7 1640 }
kendunlop 10:3e15baff40e7 1641 if (expected5 != messageIn.data[2] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1642 {
kendunlop 10:3e15baff40e7 1643 //pc.printf("Data 2 of %d does NOT match %d.\r\n", messageIn.data[2], expected5);
kendunlop 10:3e15baff40e7 1644 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[2]);
kendunlop 10:3e15baff40e7 1645 }
kendunlop 10:3e15baff40e7 1646 else
kendunlop 10:3e15baff40e7 1647 {
kendunlop 11:abd3df435a2b 1648 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[2]);
kendunlop 10:3e15baff40e7 1649 }
kendunlop 10:3e15baff40e7 1650 if (expected6 != messageIn.data[3] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1651 {
kendunlop 10:3e15baff40e7 1652 //pc.printf("Data 3 of %d does NOT match %d.\r\n", messageIn.data[3], expected6);
kendunlop 10:3e15baff40e7 1653 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[3]);
kendunlop 10:3e15baff40e7 1654 }
kendunlop 10:3e15baff40e7 1655
kendunlop 10:3e15baff40e7 1656 else
kendunlop 10:3e15baff40e7 1657 {
kendunlop 11:abd3df435a2b 1658 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[3]);
kendunlop 10:3e15baff40e7 1659 }
kendunlop 10:3e15baff40e7 1660 if (expected7 != messageIn.data[4] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1661 {
kendunlop 10:3e15baff40e7 1662 //pc.printf("Data 4 of %d does NOT match %d.\r\n", messageIn.data[4], expected7);
kendunlop 10:3e15baff40e7 1663 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[4]);
kendunlop 10:3e15baff40e7 1664 }
kendunlop 10:3e15baff40e7 1665 else
kendunlop 10:3e15baff40e7 1666 {
kendunlop 11:abd3df435a2b 1667 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[4]);
kendunlop 10:3e15baff40e7 1668 }
kendunlop 10:3e15baff40e7 1669 if (expected8 != messageIn.data[5] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1670 {
kendunlop 10:3e15baff40e7 1671 //pc.printf("Data 5 of %d does NOT match %d.\r\n", messageIn.data[5], expected8);
kendunlop 10:3e15baff40e7 1672 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[5]);
kendunlop 10:3e15baff40e7 1673 }
kendunlop 10:3e15baff40e7 1674 else
kendunlop 10:3e15baff40e7 1675 {
kendunlop 11:abd3df435a2b 1676 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[5]);
kendunlop 10:3e15baff40e7 1677 }
kendunlop 10:3e15baff40e7 1678 if (expected9 != messageIn.data[6] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1679 {
kendunlop 10:3e15baff40e7 1680 //pc.printf("Data 6 of %d does NOT match %d.\r\n", messageIn.data[6], expected9);
kendunlop 10:3e15baff40e7 1681 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[6]);
kendunlop 10:3e15baff40e7 1682 }
kendunlop 10:3e15baff40e7 1683 else
kendunlop 10:3e15baff40e7 1684 {
kendunlop 11:abd3df435a2b 1685 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[6]);
kendunlop 10:3e15baff40e7 1686 }
kendunlop 10:3e15baff40e7 1687 if (expected10 != messageIn.data[7] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1688 {
kendunlop 10:3e15baff40e7 1689 //pc.printf("Data 7 of %d does NOT match %d.\r\n", messageIn.data[7], expected10);
kendunlop 10:3e15baff40e7 1690 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[7]);
kendunlop 10:3e15baff40e7 1691 }
kendunlop 10:3e15baff40e7 1692 else
kendunlop 10:3e15baff40e7 1693 {
kendunlop 11:abd3df435a2b 1694 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[7]);
kendunlop 10:3e15baff40e7 1695 }
kendunlop 11:abd3df435a2b 1696 if (messageinisneeded == 1)
kendunlop 10:3e15baff40e7 1697 {
kendunlop 11:abd3df435a2b 1698 //pc.printf("\r\n(Aftersentoutmessage)");
kendunlop 10:3e15baff40e7 1699 pc.printf("\r\n");//Add a return and a new line after the 'Sent out' message is finished if it's not spam mode.
kendunlop 10:3e15baff40e7 1700 }
kendunlop 9:7c27efe30a77 1701 }
kendunlop 10:3e15baff40e7 1702 if (itsamatch == 0)
kendunlop 9:7c27efe30a77 1703 {
kendunlop 10:3e15baff40e7 1704 mismatchfailsthistest++;
kendunlop 10:3e15baff40e7 1705 if (aspamisgoing == 1)
kendunlop 10:3e15baff40e7 1706 {
kendunlop 11:abd3df435a2b 1707 //pc.printf("\r\n(ToseparateMRWfromDNM)"); //Having a new line here separated 'message received was:...' from 'Does NOT match...' too much.
kendunlop 10:3e15baff40e7 1708 }
kendunlop 11:abd3df435a2b 1709 if (messageinisneeded == 1)
kendunlop 10:3e15baff40e7 1710 {
kendunlop 11:abd3df435a2b 1711 pc.printf("Does NOT match : %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\r", expected1, expected2, expected3, expected4, expected5, expected6, expected7, expected8, expected9, expected10);
kendunlop 11:abd3df435a2b 1712 //pc.printf("Check later bytes is %d.\r\n", checklaterbytes);
kendunlop 11:abd3df435a2b 1713 if (messageinisneeded == 1 and aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1714 {
kendunlop 11:abd3df435a2b 1715 pc.printf("\n\n");
kendunlop 11:abd3df435a2b 1716 }
kendunlop 11:abd3df435a2b 1717 if (messageinisneeded == 1 and aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1718 {
kendunlop 11:abd3df435a2b 1719 pc.printf("\n\n");
kendunlop 11:abd3df435a2b 1720 }
kendunlop 10:3e15baff40e7 1721 }
kendunlop 10:3e15baff40e7 1722 failsthistest++; //Add 1 to failsthistest to mark the fail
kendunlop 10:3e15baff40e7 1723 expectationwasfulfilled = 0;
kendunlop 10:3e15baff40e7 1724 expectationresolved = 1;
kendunlop 10:3e15baff40e7 1725 }
kendunlop 10:3e15baff40e7 1726 if (itsamatch == 1)
kendunlop 10:3e15baff40e7 1727 {
kendunlop 10:3e15baff40e7 1728 expectationwasfulfilled = 1;
kendunlop 10:3e15baff40e7 1729 expectationresolved = 1;
kendunlop 10:3e15baff40e7 1730 matchesthistest++;
kendunlop 10:3e15baff40e7 1731 //If it's a match, write out a 'Matches expectation...' message
kendunlop 11:abd3df435a2b 1732 if (messageinisneeded == 1)
kendunlop 10:3e15baff40e7 1733 {
kendunlop 11:abd3df435a2b 1734 pc.printf("Matches expectation : %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\r", expected1, expected2, expected3, expected4, expected5, expected6, expected7, expected8, expected9, expected10);
kendunlop 11:abd3df435a2b 1735 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1736 {
kendunlop 11:abd3df435a2b 1737 pc.printf("\n\n");
kendunlop 11:abd3df435a2b 1738 }
kendunlop 10:3e15baff40e7 1739 }
kendunlop 9:7c27efe30a77 1740 }
kendunlop 9:7c27efe30a77 1741 }
kendunlop 10:3e15baff40e7 1742 if (idspamon == 1)
kendunlop 9:7c27efe30a77 1743 {
kendunlop 10:3e15baff40e7 1744 idscheckedcount++;
kendunlop 10:3e15baff40e7 1745 idlistincrementer++; //Only add 1 to the idlist incrementer at the end so the first ID it sends is '000'.
kendunlop 7:a9150dc1e481 1746 }
kendunlop 11:abd3df435a2b 1747 if (customentry == 1)
kendunlop 11:abd3df435a2b 1748 {
kendunlop 11:abd3df435a2b 1749 pc.printf("Enter CAN ID to send: ");
kendunlop 11:abd3df435a2b 1750 }
kendunlop 7:a9150dc1e481 1751 }
kendunlop 10:3e15baff40e7 1752 //If speed-spam is on, spam a CAN message as fast as possible.
kendunlop 1:19d183cf2689 1753 }
kendunlop 10:3e15baff40e7 1754 if (speedspamison == 1)
kendunlop 10:3e15baff40e7 1755 {
kendunlop 10:3e15baff40e7 1756 //sendCAN();
kendunlop 10:3e15baff40e7 1757 CanBus.write(messageOut1);
kendunlop 10:3e15baff40e7 1758 spamcount++;
kendunlop 10:3e15baff40e7 1759 //pc.printf("\rSent %d '%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X' messages...", spamcount, 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 11:abd3df435a2b 1760 //Pressing 'Esc' switches off speed spam mode
kendunlop 11:abd3df435a2b 1761 wait(0.00001);
kendunlop 10:3e15baff40e7 1762 }
kendunlop 10:3e15baff40e7 1763 }
kendunlop 10:3e15baff40e7 1764 }