Diff: Ken_CAN_test.cpp

Revision:

1:19d183cf2689

Parent:

0:7a500ebaa7a6

Child:

2:11339018dda6

--- a/Ken_CAN_test.cpp	Wed Jun 08 11:40:01 2022 +0000
+++ b/Ken_CAN_test.cpp	Tue Jun 14 10:57:11 2022 +0000
@@ -1,9 +1,301 @@
-//This program was created by Ken 8th June 2022 to try out testing the CAN output of a CAN Gateway.
-#include mbed //Including mbed libraries. This should be all it needs to use the Mbed and CAN.
-pc.printf("This is the first print message.")
+//This program was created by Ken 8th June 2022 to test the CAN output of a CAN Gateway.
+#define kMajorVersion 0
+#define kMinorVersion 5
+
+#include "mbed.h" //Including mbed libraries. This should be all it needs to use the Mbed and CAN.
+#include <string> //This is needed to make text strings work
+#include <stdio.h>
+#include <ctype.h> //For 'is digit' condition
+#include <sstream> //This is used to convert an integer to hex
+using namespace std;
+//#include <cmath>
+//#include <iostream> //May be needed to turn an integer into a hex byte
+using namespace std;
+
+RawSerial pc(USBTX, USBRX); // USB UART Terminal. Is needed for 'pc.printf' functions to work.
+CAN CanBus(p9, p10); //CANBus to use pins 9 and 10. This defines CanBus so other 'CanBus' lines will work.
+CAN CanBus2(p29, p30); //CANBus2 for recieving to use pins 29 and 30. This defines CanBus so other 'CanBus' lines will work.
+CANMessage messageIn;
+
+//Define a CAN message to send
+CANMessage messageOut1;
+
+//Set messageOutText to a default message so it's defined.
+string messageOutText = "3AF 8 01 AA BB CC DD EE FF 99";
+string part = "";
+int partincrement = 0;
+int incrementer = 0;
+int CANCount = 0;
+int spamon = 0;
+int spamcount = 0;
+
+//A function to deal with each CAN message part (e.g.: 301, 8, 01, 02)
+void dealwithpart(void)
+{
+    int hextotal = 0;
+    partincrement = partincrement + 1;
+    //pc.printf("Dealing with part %d. (%s)\r\n", partincrement, part);
+    //int partincrementb = 0;
+    int textlength = part.length();
+    //int characterinc = 0;
+    //pc.printf("That's %d characters long.\r\n", textlength);
+    for (int i = 0; i < part.size(); i++)
+    {
+        //pc.printf("Examining character %d/%d.\r\n", (i+1), textlength);
+        char individualcharacter = part.at(i);
+        //pc.printf("That's '%c'.\r\n", individualcharacter);
+        int numberized = 0;
+        if(isdigit(individualcharacter))
+            {
+            //pc.printf("That character is a digit.\r\n");
+            numberized = individualcharacter - '0';
+            //pc.printf("Numberized that's '%d'.\r\n", numberized);
+            }
+        else
+            {
+            //pc.printf("That character is NOT a digit.\r\n");
+            int asciivalue = toupper(individualcharacter);
+            //pc.printf("Ascii value is %d.\r\n", asciivalue);
+            numberized = asciivalue - 55;
+            //pc.printf("Hex value is %d.\r\n", numberized);
+            }
+        //pc.printf("Eventual numberization is %d.\r\n", numberized);
+        //pc.printf("Hex total is now %d.\r\n", hextotal);
+        int powertoraise = part.size() - (i+1);
+        //pc.printf("Must multiply by 16 to the power of %d.\r\n", powertoraise);
+        int amounttoadd = numberized;
+        //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
+        if (powertoraise == 1)
+            {
+            amounttoadd = numberized * 16;
+            //pc.printf("Multiplying by 16.\r\n");
+            //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
+            }
+        if (powertoraise == 2)
+            {
+            amounttoadd = numberized * 256;
+            //pc.printf("Multiplying by 256.\r\n");
+            }
+        //pc.printf("Amount to add is therefore %d.\r\n", amounttoadd);
+        hextotal = hextotal + amounttoadd;
+        //pc.printf("hextotal so far for this part is therefore %d.\r\n", hextotal);
+    }
+    //pc.printf("hextotal for whole part is therefore %d.\r\n", hextotal);
+    //pc.printf("Need to convert that into true hex.\r\n");
+    std::stringstream sstream;
+    sstream << std::hex << hextotal;
+    //pc.printf("StringSteam says '%s'.\r\n", sstream.str());
+    if (partincrement == 1)
+        {messageOut1.id = hextotal;}
+    if (partincrement == 2)
+        {messageOut1.len = hextotal;}
+    if (partincrement >= 3)
+        {messageOut1.data[partincrement-3] = hextotal;}
+    //pc.printf("Part %d complete.\r\n", partincrement);
+    //pc.printf("--------------------------------------\r\n");
+}
+
+//An attempted function to get a coherent CAN message from one, uninterrupted string
+void getCANfromstring(void)
+{
+    //pc.printf("messageOutText is '%s'\r\n", messageOutText);
+    remove(messageOutText.begin(), messageOutText.end(), ' '); //Remove the spaces from the text to send out so it can be parsed.
+    //pc.printf("After removing spaces, messageOutText is '%s'\r\n", messageOutText);
+    string startofstring = messageOutText.substr(0,20); //Take the first 20 characters of the newly-formed string to get a spaceless CAN message.
+    //pc.printf("String to parse is '%s'.\r\n", startofstring);
+    partincrement = 0;
+    part = startofstring.substr(0,3);
+    dealwithpart();
+    part = startofstring.substr(3,1);
+    dealwithpart();
+    part = startofstring.substr(4,2);
+    dealwithpart();
+    part = startofstring.substr(6,2);
+    dealwithpart();
+    part = startofstring.substr(8,2);
+    dealwithpart();
+    part = startofstring.substr(10,2);
+    dealwithpart();
+    part = startofstring.substr(12,2);
+    dealwithpart();
+    part = startofstring.substr(14,2);
+    dealwithpart();
+    part = startofstring.substr(16,2);
+    dealwithpart();
+    part = startofstring.substr(18,2);
+    dealwithpart();
+    //pc.printf("First part is '%s'.\r\n", part1);
+    //pc.printf("Second part is '%s'.\r\n", part2);
+    //pc.printf("Third part is '%s'.\r\n", part3);
+    //pc.printf("Fourth part is '%s'.\r\n", part4);
+    //pc.printf("Fifth part is '%s'.\r\n", part5);
+    //pc.printf("Sixth part is '%s'.\r\n", part6);
+    //pc.printf("Seventh part is '%s'.\r\n", part7);
+    //pc.printf("Eighth part is '%s'.\r\n", part8);
+    //pc.printf("Ninth part is '%s'.\r\n", part9);
+    //pc.printf("Tenth part is '%s'.\r\n", part10);
+    //string mOTwithoutspaces = messageOutText.erase(remove(messageOutText.begin(), messageOutText.end(), " "), messageOutText.end());
+}
+
+void defineCANmessage(void)
+{
+    //pc.printf("Defining CAN message 1.\r\n");
+    //messageOut1.format = CANStandard;
+    //messageOut1.id = 0x301;
+    //messageOut1.len = 8;
+    //messageOut1.data[0] = 0x06;
+    //messageOut1.data[1] = 0x3f;
+    //messageOut1.data[2] = 0xb2;
+    //messageOut1.data[3] = 0x29;
+    //messageOut1.data[4] = 0x19;
+    //messageOut1.data[5] = 0x97;
+    //messageOut1.data[6] = 0x67;
+    //messageOut1.data[7] = 0x37;
+}
+
+void printMessageOut (void){
+    //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.
+    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]);
+}
+
+void printMessageIn (void){
+    //This function will print out whatever the CAN bus is receiving.
+    pc.printf("Message IN: %03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\r\n",messageIn.id,messageIn.len,messageIn.data[0],messageIn.data[1],messageIn.data[2],messageIn.data[3],messageIn.data[4],messageIn.data[5],messageIn.data[6],messageIn.data[7]);
+}
 
 //The 'main' function will run as soon as the program starts.
 int main()
+{
+    pc.baud(115200); // serial port at 115200
+    CanBus.frequency(500 * 1000); // CAN bus at 500k
+    CanBus.reset(); // clear any bus errors
+    //NOTE: Print messages must be below this line to work.
+    pc.printf("------------------------------------------\r\n");
+    pc.printf("Welcome to Ken CAN test.\r\n");
+    pc.printf("Setting CAN bus to 500k.\r\n");
+    pc.printf("Setting serial port to 115200.\r\n");
+    pc.printf("Using pins 9 and 10.\r\n");
+    pc.printf("Version %d.%d\r\n",kMajorVersion,kMinorVersion);
+    pc.printf("Build date %s %s\r\n",__DATE__,__TIME__);
+    pc.printf("------------------------------------------\r\n");
+    char c;
+    
+    //Check for button presses
+    while (1)
     {
-    pc.printf("This is the second message.")
-    }
\ No newline at end of file
+        if (pc.readable())
+        {
+            c = pc.getc();
+            if ((c != NULL))
+            {
+                // When the a key is pressed, define a CAN message and send it.
+                //pc.printf("A key was pressed! (%c)\r\n", c);
+                //pc.printf("Will try to send CAN...\r\n");
+                //defineCANmessage();
+                messageOutText = "";
+                if (c == '1')
+                    {messageOutText = "301 8 01 01 01 01 01 01 01 01";}
+                if (c == '2')
+                    {messageOutText = "302 8 02 02 02 02 02 02 02 02";}
+                if (c == '3')
+                    {messageOutText = "303 8 03 03 03 03 03 03 03 03";}
+                if (c == '4')
+                    {messageOutText = "304 8 04 04 04 04 04 04 04 04";}
+                if (c == '5')
+                    {messageOutText = "305 8 05 05 05 05 05 05 05 05";}
+                if (c == '6')
+                    {messageOutText = "306 8 06 06 06 06 06 06 06 06";}
+                if (c == '7')
+                    {messageOutText = "307 8 07 07 07 07 07 07 07 07";}
+                if (c == '8')
+                    {messageOutText = "308 8 08 08 08 08 08 08 08 08";}
+                if (c == '9')
+                    {messageOutText = "309 8 09 09 09 09 09 09 09 09";}
+                if (c == 'f')
+                    {messageOutText = "FFF 8 FF FF FF FF FF FF FF FF";}
+                if (c == 'q')
+                    {pc.printf("Changing CAN bus speed to 125.\r\n");
+                    CanBus.frequency(125 * 1000);} // CAN bus at 125k
+                if (c == 'w')
+                    {pc.printf("Changing CAN bus speed to 250.\r\n");
+                    CanBus.frequency(250 * 1000);} // CAN bus at 250k
+                if (c == 'e')
+                    {pc.printf("Changing CAN bus speed to 500.\r\n");
+                    CanBus.frequency(500 * 1000);} // CAN bus at 500k
+                if (c == 'r')
+                    {pc.printf("Changing CAN bus speed to 1000.\r\n");
+                    CanBus.frequency(1000 * 1000);} // CAN bus at 1000k
+                if (c == 's')
+                    {
+                    pc.printf("Sending authentic sats message.\r\n");
+                    messageOutText = "301 8 06 3F B2 29 12 97 67 37";
+                    }
+                if (c == 'i')
+                    {
+                    incrementer = incrementer + 16;
+                    std::stringstream sstream;
+                    sstream << std::hex << incrementer;
+                    string stringsofar = sstream.str();
+                    //pc.printf("Incrementer is now %d.\r\n", incrementer);
+                    //pc.printf("StringStream says '%s'.\r\n", stringsofar);
+                    int length = stringsofar.length();
+                    //pc.printf("Length is %d/16.\r\n", length);
+                    for (int i = 0; i < (16-length); i++)
+                        stringsofar = "0" + stringsofar;
+                    //pc.printf("stringsofar says '%s'.\r\n", stringsofar);
+                    messageOutText = "305 8 " + stringsofar;
+                    //pc.printf("Will try to send '%s'.\r\n", messageOutText);
+                    }
+                messageOut1.format = CANStandard;
+                if (c == 'z' and spamon == 0)
+                    {
+                    pc.printf("Starting spam sequence...\r\n");
+                    spamon = 1;
+                    incrementer = 0;
+                    int spamcount = 0;
+                    }
+                //Pressing 'x' switches off spam mode
+                if (c == 'x' and spamon == 1)
+                    {
+                    spamon = 0;
+                    pc.printf("Ending spam mode.\r\n");
+                    }
+                if (messageOutText != "")
+                    {
+                    getCANfromstring();
+                    CanBus.write(messageOut1);
+                    if (spamon == 0)
+                        {printMessageOut();}
+                    }
+            }
+        }
+        //If spam mode is on, spam an incrementing CAN message
+        if (spamon == 1)
+            {
+            spamcount ++;
+            incrementer ++;
+            std::stringstream sstream;
+            sstream << std::hex << incrementer;
+            string stringsofar = sstream.str();
+            int length = stringsofar.length();
+            for (int i = 0; i < (16-length); i++)
+            stringsofar = "0" + stringsofar;
+            messageOutText = "305 8 " + stringsofar;
+            getCANfromstring();
+            CanBus.write(messageOut1);
+            wait(0.01);
+            }
+        //Check for CAN messages coming in
+            if (CanBus.read(messageIn))
+            {
+            CANCount ++;
+            printMessageIn();
+            }
+        //Spam out the message as fast as possible
+        //while (1)
+        //{
+        //  defineCANmessage();
+        //  CanBus.write(messageOut1);
+        //}
+    }
+}
\ No newline at end of file