Kenneth Dunlop / Mbed 2 deprecated Ken_CAN_test

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Dependencies:   mbed

Ken_CAN_test.cpp@11:abd3df435a2b, 2022-07-06 (annotated)

Committer:
kendunlop
Date:
Wed Jul 06 11:19:51 2022 +0000
Revision:
11:abd3df435a2b
Parent:
10:3e15baff40e7
Child:
12:e950feba910d
Fixed a lot of reporting errors with info not appearing.

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 9:7c27efe30a77 88 int mbedCANbusspeed = 500 * 1000;
kendunlop 9:7c27efe30a77 89 int CANGatewayCANbusspeed = 500 * 1000;
kendunlop 10:3e15baff40e7 90 int listen = 1;
kendunlop 11:abd3df435a2b 91 int testwasaborted = 0;
kendunlop 11:abd3df435a2b 92
kendunlop 11:abd3df435a2b 93 int customentry = 0;
kendunlop 11:abd3df435a2b 94 int normalkeypresses = 1;
kendunlop 11:abd3df435a2b 95 string customentrystring = "";
kendunlop 11:abd3df435a2b 96 int hextotal = 0;
kendunlop 9:7c27efe30a77 97
kendunlop 8:6f096b45ca15 98 //Array of IDs to translate can be overwritten with the 'copyarray'.
kendunlop 8:6f096b45ca15 99 //It's arranged in columns of IDs that are translated to the ID in the next column.
kendunlop 8:6f096b45ca15 100 //NOTE: Array must be a large enough size to contain all ID translations.
kendunlop 11:abd3df435a2b 101 int idsarray[2][8][10] = {};
kendunlop 8:6f096b45ca15 102 int arrayx = 2;
kendunlop 8:6f096b45ca15 103 int arrayy = 8;
kendunlop 11:abd3df435a2b 104 int arrayz = 10;
kendunlop 8:6f096b45ca15 105
kendunlop 9:7c27efe30a77 106 //A function to easily get the total of seconds a spam has taken
kendunlop 9:7c27efe30a77 107 int getspamsecondstotal(void)
kendunlop 9:7c27efe30a77 108 {
kendunlop 9:7c27efe30a77 109 //pc.printf("\r\nHere I'll get the spam seconds total!\r\n");
kendunlop 9:7c27efe30a77 110 //pc.printf("Spam start/end time was %d / %d.\r\n", spamstarttime, spamendtime);
kendunlop 9:7c27efe30a77 111 int spamtickstotal = (spamendtime - spamstarttime);
kendunlop 9:7c27efe30a77 112 //pc.printf("Spam ticks total is %d.\r\n", spamtickstotal);
kendunlop 9:7c27efe30a77 113 //pc.printf("CLOCKS_PER_SEC are %d.\r\n", CLOCKS_PER_SEC);
kendunlop 9:7c27efe30a77 114 //pc.printf("Spamcount this test is %d.\r\n", spamcount);
kendunlop 9:7c27efe30a77 115 spamsecondstotal = ((spamendtime - spamstarttime) / CLOCKS_PER_SEC);
kendunlop 9:7c27efe30a77 116 //pc.printf("Spam seconds total is %d.\r\n", spamsecondstotal);
kendunlop 9:7c27efe30a77 117 spamspersecond = (10000 * spamcount);
kendunlop 10:3e15baff40e7 118 messagesinpersecond = (10000 * messagesincount);
kendunlop 9:7c27efe30a77 119 //pc.printf("Spams biggened x 10,000 is %d.\r\n", spamspersecond);
kendunlop 9:7c27efe30a77 120 spamspersecond = (spamspersecond / spamtickstotal);
kendunlop 10:3e15baff40e7 121 messagesinpersecond = (messagesinpersecond / spamtickstotal);
kendunlop 9:7c27efe30a77 122 //pc.printf("Spams per tick, still biggened, is %d.\r\n", spamspersecond);
kendunlop 9:7c27efe30a77 123 spamspersecond = (spamspersecond * CLOCKS_PER_SEC);
kendunlop 10:3e15baff40e7 124 messagesinpersecond = (messagesinpersecond * CLOCKS_PER_SEC);
kendunlop 9:7c27efe30a77 125 //pc.printf("Spams per second, still biggened, given %d ticks per second, is %d.\r\n", CLOCKS_PER_SEC, spamspersecond);
kendunlop 10:3e15baff40e7 126 spamspersecond = (spamspersecond / 10000);
kendunlop 10:3e15baff40e7 127 messagesinpersecond = (messagesinpersecond / 10000);
kendunlop 9:7c27efe30a77 128 //pc.printf("Spams per second, un-biggened, is %d.\r\n", spamspersecond);
kendunlop 10:3e15baff40e7 129 //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 130 if (speedspamison == 0)
kendunlop 10:3e15baff40e7 131 {
kendunlop 11:abd3df435a2b 132 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 133 {
kendunlop 11:abd3df435a2b 134 pc.printf("\n");
kendunlop 11:abd3df435a2b 135 }
kendunlop 10:3e15baff40e7 136 pc.printf("\rSent %d messages over %d seconds. Messages per second is %d.\r\n", spamcount, spamsecondstotal, spamspersecond);
kendunlop 10:3e15baff40e7 137 }
kendunlop 9:7c27efe30a77 138 return(spamsecondstotal, spamspersecond);
kendunlop 9:7c27efe30a77 139 }
kendunlop 9:7c27efe30a77 140
kendunlop 10:3e15baff40e7 141 //A function to report if baud rates differ
kendunlop 10:3e15baff40e7 142 void reportbaudrates(void)
kendunlop 10:3e15baff40e7 143 {
kendunlop 10:3e15baff40e7 144 if (mbedCANbusspeed != CANGatewayCANbusspeed)
kendunlop 10:3e15baff40e7 145 {
kendunlop 10:3e15baff40e7 146 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 147 }
kendunlop 10:3e15baff40e7 148 }
kendunlop 10:3e15baff40e7 149
kendunlop 8:6f096b45ca15 150 //A function to handle when CAN-expectations are not fulfilled
kendunlop 8:6f096b45ca15 151 void expectationwasnotfulfilled(void)
kendunlop 8:6f096b45ca15 152 {
kendunlop 8:6f096b45ca15 153 //pc.printf("Expectation was not fulfilled for that message!\r\n");
kendunlop 8:6f096b45ca15 154 }
kendunlop 7:a9150dc1e481 155
kendunlop 7:a9150dc1e481 156 //A function to clear all test-related variables
kendunlop 11:abd3df435a2b 157 void resetCANbuses()//A quick method to reset both CAN buses conveniently
kendunlop 11:abd3df435a2b 158 {
kendunlop 11:abd3df435a2b 159 CanBus.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
kendunlop 11:abd3df435a2b 160 CanBus2.reset(); // Clear any bus errors. Will this stop the 'cached' CAN sticking around?
kendunlop 11:abd3df435a2b 161 }
kendunlop 11:abd3df435a2b 162
kendunlop 7:a9150dc1e481 163 void resettest(void)
kendunlop 7:a9150dc1e481 164 {
kendunlop 9:7c27efe30a77 165 //pc.printf("Resetting test.\r\n");
kendunlop 11:abd3df435a2b 166 listen = 1;
kendunlop 7:a9150dc1e481 167 failsthistest = 0;
kendunlop 11:abd3df435a2b 168 failsstreak = 0;
kendunlop 11:abd3df435a2b 169 failsstreakstart = 0;
kendunlop 9:7c27efe30a77 170 spamcount = 0;
kendunlop 8:6f096b45ca15 171 noreplyfailsthistest = 0;
kendunlop 9:7c27efe30a77 172 goodnoreplies = 0;
kendunlop 9:7c27efe30a77 173 goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 174 goodnoreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 175 noreplystreak = 0;
kendunlop 9:7c27efe30a77 176 noreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 177 CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 178 CANmatchstreakstartID = 0;
kendunlop 8:6f096b45ca15 179 mismatchfailsthistest = 0;
kendunlop 9:7c27efe30a77 180 matchesthistest = 0;
kendunlop 8:6f096b45ca15 181 idscheckedcount = 0;
kendunlop 9:7c27efe30a77 182 unexpectedCANfails = 0;
kendunlop 9:7c27efe30a77 183 unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 184 unexpectedCANstreakstartid = 0;
kendunlop 10:3e15baff40e7 185 messagesincount = 0;
kendunlop 11:abd3df435a2b 186 testwasaborted = 0;
kendunlop 7:a9150dc1e481 187 }
kendunlop 7:a9150dc1e481 188
kendunlop 7:a9150dc1e481 189 //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 190 void addnewlineifneeded(void)
kendunlop 7:a9150dc1e481 191 {
kendunlop 7:a9150dc1e481 192 if (addnewlinetonextmessage == 1)
kendunlop 7:a9150dc1e481 193 {
kendunlop 7:a9150dc1e481 194 pc.printf("\r\n");
kendunlop 7:a9150dc1e481 195 addnewlinetonextmessage = 0;
kendunlop 7:a9150dc1e481 196 }
kendunlop 7:a9150dc1e481 197 }
kendunlop 7:a9150dc1e481 198
kendunlop 9:7c27efe30a77 199 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 200 {
kendunlop 9:7c27efe30a77 201 pc.printf("\033[1;33m\rSent out : %s \033[0m", messageOutTextWithSpaces);
kendunlop 9:7c27efe30a77 202 }
kendunlop 9:7c27efe30a77 203
kendunlop 7:a9150dc1e481 204
kendunlop 7:a9150dc1e481 205 //A function to end a test and report on findings.
kendunlop 7:a9150dc1e481 206 void endtest()
kendunlop 7:a9150dc1e481 207 {
kendunlop 11:abd3df435a2b 208 listen = 0;
kendunlop 8:6f096b45ca15 209 expectationresolved = 1;
kendunlop 11:abd3df435a2b 210 if (testwasaborted == 1)
kendunlop 7:a9150dc1e481 211 {
kendunlop 11:abd3df435a2b 212 pc.printf("\033[1;35mTest was aborted, results invalid.\033[0m\r\n");
kendunlop 11:abd3df435a2b 213 pc.printf("\033[1;35m%d IDs sent out. %d failures found so far.\033[0m\r\n", spamcount, failsthistest);
kendunlop 9:7c27efe30a77 214 if (CANpassthrough == 0)
kendunlop 9:7c27efe30a77 215 {
kendunlop 11:abd3df435a2b 216 pc.printf("\033[1;35m%d expected non-replies found so far. \033[0m", goodnoreplies);
kendunlop 9:7c27efe30a77 217 }
kendunlop 11:abd3df435a2b 218 pc.printf("\033[1;35m%d CAN matches found so far.\033[0m\r\n", matchesthistest);
kendunlop 7:a9150dc1e481 219 }
kendunlop 11:abd3df435a2b 220 if (failsthistest == 0 and testwasaborted == 0)
kendunlop 7:a9150dc1e481 221 {
kendunlop 11:abd3df435a2b 222 pc.printf("\033[1;32mTest passed.\033[0m\r\n");
kendunlop 11:abd3df435a2b 223 pc.printf("\033[1;32m%d IDs sent out. \033[0m", spamcount);
kendunlop 11:abd3df435a2b 224 pc.printf("\033[1;32m%d failures found.\033[0m\r\n", failsthistest);
kendunlop 11:abd3df435a2b 225 if (CANpassthrough == 0)
kendunlop 11:abd3df435a2b 226 {
kendunlop 11:abd3df435a2b 227 pc.printf("\033[1;32m%d expected non-replies found. \033[0m", goodnoreplies);
kendunlop 11:abd3df435a2b 228 }
kendunlop 11:abd3df435a2b 229 pc.printf("\033[1;32m%d CAN matches found.\033[0m\r\n", matchesthistest);
kendunlop 11:abd3df435a2b 230 }
kendunlop 11:abd3df435a2b 231 if (failsthistest > 0 and testwasaborted == 0)
kendunlop 11:abd3df435a2b 232 {
kendunlop 11:abd3df435a2b 233 pc.printf("\033[1;31mTest failed.\r\n%d failures found.\033[0m\r\n", failsthistest);
kendunlop 9:7c27efe30a77 234 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 235 if (goodnoreplies > 0)
kendunlop 9:7c27efe30a77 236 {
kendunlop 9:7c27efe30a77 237 pc.printf("\033[1;31m%d expected non-replies occurred.\033[0m\r\n", goodnoreplies);
kendunlop 9:7c27efe30a77 238 }
kendunlop 7:a9150dc1e481 239 }
kendunlop 9:7c27efe30a77 240 //addnewlineifneeded();
kendunlop 7:a9150dc1e481 241 pc.printf("-------------------------------------\r\n");
kendunlop 7:a9150dc1e481 242 failsthistest = 0;
kendunlop 11:abd3df435a2b 243 normalkeypresses = 1;
kendunlop 11:abd3df435a2b 244 }
kendunlop 11:abd3df435a2b 245
kendunlop 11:abd3df435a2b 246 //'End ID spam test' function so you can end it by reaching 2048 IDs or pressing 'Esc' while it's running
kendunlop 11:abd3df435a2b 247 void endidspamtest()
kendunlop 11:abd3df435a2b 248 {
kendunlop 11:abd3df435a2b 249 spamendtime = clock();
kendunlop 11:abd3df435a2b 250 getspamsecondstotal();//Process the spam information
kendunlop 11:abd3df435a2b 251 idspamon = 0;
kendunlop 11:abd3df435a2b 252 aspamisgoing = 0;
kendunlop 11:abd3df435a2b 253 normalkeypresses = 0;
kendunlop 11:abd3df435a2b 254 addnewlinetonextmessage = 1;
kendunlop 11:abd3df435a2b 255 //addnewlineifneeded();
kendunlop 11:abd3df435a2b 256 //pc.printf("Ending ID spam sequence. %d IDs checked total.\r\n", idscheckedcount);
kendunlop 11:abd3df435a2b 257 idlistincrementer = 0;
kendunlop 11:abd3df435a2b 258 endtest();
kendunlop 7:a9150dc1e481 259 }
kendunlop 10:3e15baff40e7 260
kendunlop 10:3e15baff40e7 261 void endspeedtest()//A different 'end' routine for speed tests.
kendunlop 10:3e15baff40e7 262 {
kendunlop 10:3e15baff40e7 263 //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 264 //{
kendunlop 10:3e15baff40e7 265 //pc.printf("messagesincount is only one less than spamcount, setting it.\r\n");
kendunlop 10:3e15baff40e7 266 //messagesincount = spamcount;
kendunlop 10:3e15baff40e7 267 //}
kendunlop 11:abd3df435a2b 268 listen = 0;
kendunlop 10:3e15baff40e7 269 pc.printf("Ending CAN speed test.\r\n");
kendunlop 10:3e15baff40e7 270 pc.printf("%d messages sent. ", spamcount);
kendunlop 11:abd3df435a2b 271 pc.printf("%d messages detected coming back in over %d seconds.\r\n", messagesincount, spamsecondstotal);
kendunlop 10:3e15baff40e7 272 int speedtestpercentage = ((messagesincount * 100)/spamcount);
kendunlop 10:3e15baff40e7 273 int speedtestpasslevel = 90;
kendunlop 10:3e15baff40e7 274 if (speedtestpercentage >= speedtestpasslevel)
kendunlop 10:3e15baff40e7 275 {
kendunlop 11:abd3df435a2b 276 //pc.printf("\033[1;32mTest pass: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
kendunlop 10:3e15baff40e7 277 }
kendunlop 10:3e15baff40e7 278 else
kendunlop 10:3e15baff40e7 279 {
kendunlop 11:abd3df435a2b 280 //pc.printf("\033[1;31mTest fail: %d%% of messages detected back.\033[0m\r\n\n", speedtestpercentage);
kendunlop 10:3e15baff40e7 281 }
kendunlop 11:abd3df435a2b 282 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 283 if (CANGatewayCANbusspeed == mbedCANbusspeed)
kendunlop 11:abd3df435a2b 284 {
kendunlop 11:abd3df435a2b 285 if (messagesinpersecond >= speedtestpasslevel)
kendunlop 11:abd3df435a2b 286 {
kendunlop 11:abd3df435a2b 287 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 288 }
kendunlop 11:abd3df435a2b 289 if (messagesinpersecond < speedtestpasslevel)
kendunlop 11:abd3df435a2b 290 {
kendunlop 11:abd3df435a2b 291 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 292 }
kendunlop 11:abd3df435a2b 293 }
kendunlop 11:abd3df435a2b 294 if (CANGatewayCANbusspeed != mbedCANbusspeed)
kendunlop 11:abd3df435a2b 295 {
kendunlop 11:abd3df435a2b 296 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 297 }
kendunlop 11:abd3df435a2b 298 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 299 }
kendunlop 7:a9150dc1e481 300
kendunlop 7:a9150dc1e481 301 //A generic 'send CAN' function to send CAN with a standard message
kendunlop 7:a9150dc1e481 302 void sendCAN(void)
kendunlop 7:a9150dc1e481 303 {
kendunlop 7:a9150dc1e481 304 CanBus.write(messageOut1);
kendunlop 7:a9150dc1e481 305 //addnewlineifneeded();
kendunlop 8:6f096b45ca15 306 if (aspamisgoing == 0)
kendunlop 8:6f096b45ca15 307 {
kendunlop 8:6f096b45ca15 308 //pc.printf("\r\n");
kendunlop 8:6f096b45ca15 309 }
kendunlop 8:6f096b45ca15 310 expectationresolved = 0;
kendunlop 8:6f096b45ca15 311 //pc.printf("Expectationresolved now is %d.", expectationresolved);
kendunlop 8:6f096b45ca15 312 expectationtimer = 0;
kendunlop 7:a9150dc1e481 313 //addnewlinetonextmessage = 1;
kendunlop 7:a9150dc1e481 314 }
kendunlop 1:19d183cf2689 315
kendunlop 2:11339018dda6 316 //A function to deal with each CAN message part (e.g.: 301, 8, 01, 02...)
kendunlop 1:19d183cf2689 317 void dealwithpart(void)
kendunlop 1:19d183cf2689 318 {
kendunlop 11:abd3df435a2b 319 hextotal = 0;
kendunlop 1:19d183cf2689 320 partincrement = partincrement + 1;
kendunlop 1:19d183cf2689 321 //pc.printf("Dealing with part %d. (%s)\r\n", partincrement, part);
kendunlop 1:19d183cf2689 322 //int partincrementb = 0;
kendunlop 1:19d183cf2689 323 int textlength = part.length();
kendunlop 1:19d183cf2689 324 //int characterinc = 0;
kendunlop 1:19d183cf2689 325 //pc.printf("That's %d characters long.\r\n", textlength);
kendunlop 1:19d183cf2689 326 for (int i = 0; i < part.size(); i++)
kendunlop 1:19d183cf2689 327 {
kendunlop 1:19d183cf2689 328 //pc.printf("Examining character %d/%d.\r\n", (i+1), textlength);
kendunlop 1:19d183cf2689 329 char individualcharacter = part.at(i);
kendunlop 1:19d183cf2689 330 //pc.printf("That's '%c'.\r\n", individualcharacter);
kendunlop 1:19d183cf2689 331 int numberized = 0;
kendunlop 1:19d183cf2689 332 if(isdigit(individualcharacter))
kendunlop 1:19d183cf2689 333 {
kendunlop 1:19d183cf2689 334 //pc.printf("That character is a digit.\r\n");
kendunlop 1:19d183cf2689 335 numberized = individualcharacter - '0';
kendunlop 1:19d183cf2689 336 //pc.printf("Numberized that's '%d'.\r\n", numberized);
kendunlop 1:19d183cf2689 337 }
kendunlop 1:19d183cf2689 338 else
kendunlop 1:19d183cf2689 339 {
kendunlop 1:19d183cf2689 340 //pc.printf("That character is NOT a digit.\r\n");
kendunlop 1:19d183cf2689 341 int asciivalue = toupper(individualcharacter);
kendunlop 1:19d183cf2689 342 //pc.printf("Ascii value is %d.\r\n", asciivalue);
kendunlop 1:19d183cf2689 343 numberized = asciivalue - 55;
kendunlop 1:19d183cf2689 344 //pc.printf("Hex value is %d.\r\n", numberized);
kendunlop 1:19d183cf2689 345 }
kendunlop 1:19d183cf2689 346 //pc.printf("Eventual numberization is %d.\r\n", numberized);
kendunlop 1:19d183cf2689 347 //pc.printf("Hex total is now %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 348 int powertoraise = part.size() - (i+1);
kendunlop 1:19d183cf2689 349 //pc.printf("Must multiply by 16 to the power of %d.\r\n", powertoraise);
kendunlop 1:19d183cf2689 350 int amounttoadd = numberized;
kendunlop 1:19d183cf2689 351 //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
kendunlop 1:19d183cf2689 352 if (powertoraise == 1)
kendunlop 1:19d183cf2689 353 {
kendunlop 1:19d183cf2689 354 amounttoadd = numberized * 16;
kendunlop 1:19d183cf2689 355 //pc.printf("Multiplying by 16.\r\n");
kendunlop 1:19d183cf2689 356 //pc.printf("powertoraise is '%d'.\r\n", powertoraise);
kendunlop 1:19d183cf2689 357 }
kendunlop 1:19d183cf2689 358 if (powertoraise == 2)
kendunlop 1:19d183cf2689 359 {
kendunlop 1:19d183cf2689 360 amounttoadd = numberized * 256;
kendunlop 1:19d183cf2689 361 //pc.printf("Multiplying by 256.\r\n");
kendunlop 1:19d183cf2689 362 }
kendunlop 1:19d183cf2689 363 //pc.printf("Amount to add is therefore %d.\r\n", amounttoadd);
kendunlop 1:19d183cf2689 364 hextotal = hextotal + amounttoadd;
kendunlop 1:19d183cf2689 365 //pc.printf("hextotal so far for this part is therefore %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 366 }
kendunlop 1:19d183cf2689 367 //pc.printf("hextotal for whole part is therefore %d.\r\n", hextotal);
kendunlop 1:19d183cf2689 368 //pc.printf("Need to convert that into true hex.\r\n");
kendunlop 1:19d183cf2689 369 std::stringstream sstream;
kendunlop 1:19d183cf2689 370 sstream << std::hex << hextotal;
kendunlop 1:19d183cf2689 371 //pc.printf("StringSteam says '%s'.\r\n", sstream.str());
kendunlop 1:19d183cf2689 372 if (partincrement == 1)
kendunlop 7:a9150dc1e481 373 {
kendunlop 11:abd3df435a2b 374 if (hextotal > 0xFFF)
kendunlop 11:abd3df435a2b 375 {
kendunlop 11:abd3df435a2b 376 hextotal = 0xFFF;
kendunlop 11:abd3df435a2b 377 }
kendunlop 7:a9150dc1e481 378 messageOut1.id = hextotal;
kendunlop 7:a9150dc1e481 379 expected1 = hextotal;
kendunlop 11:abd3df435a2b 380 if (customentry == 1)
kendunlop 11:abd3df435a2b 381 {
kendunlop 11:abd3df435a2b 382 idlistincrementer = hextotal;
kendunlop 11:abd3df435a2b 383 }
kendunlop 8:6f096b45ca15 384 //For IDs, check if the ID is represented in the idsarray.
kendunlop 8:6f096b45ca15 385 shouldntcomein = 0;
kendunlop 9:7c27efe30a77 386 if (mbedCANbusspeed != CANGatewayCANbusspeed)
kendunlop 9:7c27efe30a77 387 {
kendunlop 9:7c27efe30a77 388 shouldntcomein = 1;
kendunlop 9:7c27efe30a77 389 }
kendunlop 11:abd3df435a2b 390 idwasfound = 0;
kendunlop 8:6f096b45ca15 391 if (CANpassthrough == 0)
kendunlop 8:6f096b45ca15 392 {
kendunlop 8:6f096b45ca15 393 for(int i = 0; i <=arrayy-1; i++)
kendunlop 8:6f096b45ca15 394 {
kendunlop 11:abd3df435a2b 395 if(idsarray[0][i][0] == expected1)
kendunlop 8:6f096b45ca15 396 {
kendunlop 11:abd3df435a2b 397 //pc.printf("ID was found in the array at %d.\r\n", i);
kendunlop 8:6f096b45ca15 398 idwasfound = 1;
kendunlop 11:abd3df435a2b 399 //pc.printf("IDwasfound is now '%d'.\r\n", idwasfound);
kendunlop 11:abd3df435a2b 400 columnidwasfound = i;
kendunlop 8:6f096b45ca15 401 int originalexpectedvalue = expected1;
kendunlop 9:7c27efe30a77 402 //Get string of hex code for original expected value (ID code found in array)
kendunlop 9:7c27efe30a77 403 std::stringstream sstream;
kendunlop 9:7c27efe30a77 404 sstream << std::hex << originalexpectedvalue;
kendunlop 9:7c27efe30a77 405 string tempstring = sstream.str();
kendunlop 9:7c27efe30a77 406 //Get string of hex code for value to adjust to
kendunlop 9:7c27efe30a77 407 std::stringstream sstream2;
kendunlop 9:7c27efe30a77 408 sstream2 << std::hex << expected1;
kendunlop 9:7c27efe30a77 409 string tempstring2 = sstream2.str();
kendunlop 9:7c27efe30a77 410 //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 411 }
kendunlop 8:6f096b45ca15 412 }
kendunlop 8:6f096b45ca15 413 if (idwasfound == 0 and CANpassthrough == 0)
kendunlop 8:6f096b45ca15 414 {
kendunlop 8:6f096b45ca15 415 //pc.printf("CANpassthrough is %d.\r\n", CANpassthrough);
kendunlop 8:6f096b45ca15 416 shouldntcomein = 1;
kendunlop 11:abd3df435a2b 417 //pc.printf("ID of %d was never found, expecting it NOT to come in.\r\n", expected1);
kendunlop 8:6f096b45ca15 418 }
kendunlop 9:7c27efe30a77 419 if (shouldntcomein == 0 and unexpectedCANstreak > 0) //If data is expected to come in, this ends any unexpected-CAN streak.
kendunlop 9:7c27efe30a77 420 {
kendunlop 9:7c27efe30a77 421 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 422 {
kendunlop 11:abd3df435a2b 423 //pc.printf("\r\n(FrombreakingunexpectedCANstreak 2)\n");
kendunlop 9:7c27efe30a77 424 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 425 }
kendunlop 9:7c27efe30a77 426 unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 427 unexpectedCANstreakstartid = 0;
kendunlop 9:7c27efe30a77 428 }
kendunlop 8:6f096b45ca15 429 }
kendunlop 7:a9150dc1e481 430 }
kendunlop 1:19d183cf2689 431 if (partincrement == 2)
kendunlop 7:a9150dc1e481 432 {
kendunlop 7:a9150dc1e481 433 messageOut1.len = hextotal;
kendunlop 7:a9150dc1e481 434 expected2 = hextotal;
kendunlop 7:a9150dc1e481 435 }
kendunlop 1:19d183cf2689 436 if (partincrement >= 3)
kendunlop 7:a9150dc1e481 437 {
kendunlop 7:a9150dc1e481 438 messageOut1.data[partincrement-3] = hextotal;
kendunlop 7:a9150dc1e481 439 }
kendunlop 7:a9150dc1e481 440 if (partincrement == 3)
kendunlop 7:a9150dc1e481 441 {
kendunlop 7:a9150dc1e481 442 expected3 = hextotal;
kendunlop 7:a9150dc1e481 443 }
kendunlop 7:a9150dc1e481 444 if (partincrement == 4)
kendunlop 7:a9150dc1e481 445 {
kendunlop 7:a9150dc1e481 446 expected4 = hextotal;
kendunlop 7:a9150dc1e481 447 }
kendunlop 7:a9150dc1e481 448 if (partincrement == 5)
kendunlop 7:a9150dc1e481 449 {
kendunlop 7:a9150dc1e481 450 expected5 = hextotal;
kendunlop 7:a9150dc1e481 451 }
kendunlop 7:a9150dc1e481 452 if (partincrement == 6)
kendunlop 7:a9150dc1e481 453 {
kendunlop 7:a9150dc1e481 454 expected6 = hextotal;
kendunlop 7:a9150dc1e481 455 }
kendunlop 7:a9150dc1e481 456 if (partincrement == 7)
kendunlop 7:a9150dc1e481 457 {
kendunlop 7:a9150dc1e481 458 expected7 = hextotal;
kendunlop 7:a9150dc1e481 459 }
kendunlop 7:a9150dc1e481 460 if (partincrement == 8)
kendunlop 7:a9150dc1e481 461 {
kendunlop 7:a9150dc1e481 462 expected8 = hextotal;
kendunlop 7:a9150dc1e481 463 }
kendunlop 7:a9150dc1e481 464 if (partincrement == 9)
kendunlop 7:a9150dc1e481 465 {
kendunlop 7:a9150dc1e481 466 expected9 = hextotal;
kendunlop 7:a9150dc1e481 467 }
kendunlop 7:a9150dc1e481 468 if (partincrement == 10)
kendunlop 7:a9150dc1e481 469 {
kendunlop 7:a9150dc1e481 470 expected10 = hextotal;
kendunlop 7:a9150dc1e481 471 }
kendunlop 11:abd3df435a2b 472 //pc.printf("IDwasfound says '%d'.\r\n", idwasfound);
kendunlop 11:abd3df435a2b 473 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 474 {
kendunlop 11:abd3df435a2b 475 //pc.printf("ID was found in table earlier, setting expectations\r\n");
kendunlop 11:abd3df435a2b 476 int i = columnidwasfound;
kendunlop 11:abd3df435a2b 477 expected1 = idsarray[1][i][0];
kendunlop 11:abd3df435a2b 478 expected2 = idsarray[1][i][1];
kendunlop 11:abd3df435a2b 479 expected3 = idsarray[1][i][2];
kendunlop 11:abd3df435a2b 480 expected4 = idsarray[1][i][3];
kendunlop 11:abd3df435a2b 481 expected5 = idsarray[1][i][4];
kendunlop 11:abd3df435a2b 482 expected6 = idsarray[1][i][5];
kendunlop 11:abd3df435a2b 483 expected7 = idsarray[1][i][6];
kendunlop 11:abd3df435a2b 484 expected8 = idsarray[1][i][7];
kendunlop 11:abd3df435a2b 485 expected9 = idsarray[1][i][8];
kendunlop 11:abd3df435a2b 486 expected10 = idsarray[1][i][9];
kendunlop 11:abd3df435a2b 487 }
kendunlop 1:19d183cf2689 488 //pc.printf("Part %d complete.\r\n", partincrement);
kendunlop 1:19d183cf2689 489 //pc.printf("--------------------------------------\r\n");
kendunlop 1:19d183cf2689 490 }
kendunlop 1:19d183cf2689 491
kendunlop 3:79133dcea836 492 //A function to get a coherent CAN message from one, uninterrupted string
kendunlop 6:2882710e4f1e 493 void getCANfrommessageOutText(void)
kendunlop 1:19d183cf2689 494 {
kendunlop 11:abd3df435a2b 495 //pc.printf("messageOutText before space-removal is '%s'\r\n", messageOutText);
kendunlop 7:a9150dc1e481 496 messageOutTextWithSpaces = messageOutText;
kendunlop 1:19d183cf2689 497 remove(messageOutText.begin(), messageOutText.end(), ' '); //Remove the spaces from the text to send out so it can be parsed.
kendunlop 1:19d183cf2689 498 //pc.printf("After removing spaces, messageOutText is '%s'\r\n", messageOutText);
kendunlop 1:19d183cf2689 499 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 500 //pc.printf("String to parse is '%s'.\r\n", startofstring);
kendunlop 8:6f096b45ca15 501 expectationresolved = 0;
kendunlop 8:6f096b45ca15 502 if (expectationwasfulfilled == 0)
kendunlop 8:6f096b45ca15 503 {
kendunlop 8:6f096b45ca15 504 expectationwasnotfulfilled();
kendunlop 8:6f096b45ca15 505 }
kendunlop 8:6f096b45ca15 506 if (expectationwasfulfilled == -1)
kendunlop 8:6f096b45ca15 507 {
kendunlop 8:6f096b45ca15 508 expectationwasfulfilled = 0;
kendunlop 8:6f096b45ca15 509 }
kendunlop 8:6f096b45ca15 510 expectationwasfulfilled = 0;
kendunlop 1:19d183cf2689 511 partincrement = 0;
kendunlop 11:abd3df435a2b 512 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 513 {
kendunlop 11:abd3df435a2b 514 shouldntcomein = 1;
kendunlop 11:abd3df435a2b 515 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 516 {
kendunlop 11:abd3df435a2b 517 reportbaudrates();
kendunlop 11:abd3df435a2b 518 }
kendunlop 11:abd3df435a2b 519 }
kendunlop 1:19d183cf2689 520 part = startofstring.substr(0,3);
kendunlop 1:19d183cf2689 521 dealwithpart();
kendunlop 1:19d183cf2689 522 part = startofstring.substr(3,1);
kendunlop 1:19d183cf2689 523 dealwithpart();
kendunlop 1:19d183cf2689 524 part = startofstring.substr(4,2);
kendunlop 1:19d183cf2689 525 dealwithpart();
kendunlop 1:19d183cf2689 526 part = startofstring.substr(6,2);
kendunlop 1:19d183cf2689 527 dealwithpart();
kendunlop 1:19d183cf2689 528 part = startofstring.substr(8,2);
kendunlop 1:19d183cf2689 529 dealwithpart();
kendunlop 1:19d183cf2689 530 part = startofstring.substr(10,2);
kendunlop 1:19d183cf2689 531 dealwithpart();
kendunlop 1:19d183cf2689 532 part = startofstring.substr(12,2);
kendunlop 1:19d183cf2689 533 dealwithpart();
kendunlop 1:19d183cf2689 534 part = startofstring.substr(14,2);
kendunlop 1:19d183cf2689 535 dealwithpart();
kendunlop 1:19d183cf2689 536 part = startofstring.substr(16,2);
kendunlop 1:19d183cf2689 537 dealwithpart();
kendunlop 1:19d183cf2689 538 part = startofstring.substr(18,2);
kendunlop 1:19d183cf2689 539 dealwithpart();
kendunlop 1:19d183cf2689 540 }
kendunlop 1:19d183cf2689 541
kendunlop 11:abd3df435a2b 542 void displayhelp(void)
kendunlop 11:abd3df435a2b 543 {
kendunlop 11:abd3df435a2b 544 pc.printf("\033[1;32m---------------HELP---------------\r\n");
kendunlop 11:abd3df435a2b 545 pc.printf("Ken_CAN_Test is a program designed by Ken Dunlop to test CAN on the CAN Gateway.\r\n");
kendunlop 11:abd3df435a2b 546 pc.printf("The program is designed to send CAN, then test the response.\r\n");
kendunlop 11:abd3df435a2b 547 pc.printf("Press 'z' to begin sending a series of incrementing messages. Press 'Esc' to finish the test.\r\n");
kendunlop 11:abd3df435a2b 548 pc.printf("Press 'v' to send a message on all IDs (000 - 7FF). Press 'Esc' to abort the test.\r\n");
kendunlop 11:abd3df435a2b 549 pc.printf("Use 'q', 'w', 'e', and 'r' to change the Mbed's CAN bus speed.\r\n");
kendunlop 11:abd3df435a2b 550 pc.printf("Use 't', 'y', 'u', and 'i' to change the presumed CAN bus speed of the CAN Gateway.\r\n");
kendunlop 11:abd3df435a2b 551 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 552 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 553 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 554 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 555 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 556 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 557 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 558 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 559 pc.printf("Press the number keys from '1' to '0' to send various pre-defined CAN messages out.\r\n");
kendunlop 11:abd3df435a2b 560 pc.printf("Press '?' to bring up this help screen!\r\n");
kendunlop 11:abd3df435a2b 561 pc.printf("---------------------------------\033[0m\r\n");
kendunlop 11:abd3df435a2b 562 }
kendunlop 1:19d183cf2689 563
kendunlop 3:79133dcea836 564 void printMessageOut (void)
kendunlop 3:79133dcea836 565 {
kendunlop 1:19d183cf2689 566 //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 567 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 568 }
kendunlop 1:19d183cf2689 569
kendunlop 3:79133dcea836 570 void printMessageIn (void)
kendunlop 3:79133dcea836 571 {
kendunlop 8:6f096b45ca15 572 //This function will print out whatever the CAN bus is receiving.
kendunlop 8:6f096b45ca15 573 //addnewlineifneeded();
kendunlop 10:3e15baff40e7 574 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 575 }
kendunlop 0:7a500ebaa7a6 576
kendunlop 0:7a500ebaa7a6 577 //The 'main' function will run as soon as the program starts.
kendunlop 0:7a500ebaa7a6 578 int main()
kendunlop 1:19d183cf2689 579 {
kendunlop 1:19d183cf2689 580 pc.baud(115200); // serial port at 115200
kendunlop 1:19d183cf2689 581 CanBus.frequency(500 * 1000); // CAN bus at 500k
kendunlop 3:79133dcea836 582 CanBus2.frequency(500 * 1000); // CAN bus at 500k
kendunlop 1:19d183cf2689 583 CanBus.reset(); // clear any bus errors
kendunlop 3:79133dcea836 584 CanBus2.reset(); // clear any bus errors
kendunlop 1:19d183cf2689 585 //NOTE: Print messages must be below this line to work.
kendunlop 8:6f096b45ca15 586 pc.printf("\033[0m------------------------------------------\r\n");
kendunlop 1:19d183cf2689 587 pc.printf("Welcome to Ken CAN test.\r\n");
kendunlop 1:19d183cf2689 588 pc.printf("Setting CAN bus to 500k.\r\n");
kendunlop 6:2882710e4f1e 589 pc.printf("Setting serial port to baud rate 115200.\r\n");
kendunlop 8:6f096b45ca15 590 pc.printf("Using pins 9 and 10 for CANBus 1 (out) and 30 and 29 for CANBus 2 (in).\r\n");
kendunlop 1:19d183cf2689 591 pc.printf("Version %d.%d\r\n",kMajorVersion,kMinorVersion);
kendunlop 1:19d183cf2689 592 pc.printf("Build date %s %s\r\n",__DATE__,__TIME__);
kendunlop 11:abd3df435a2b 593 pc.printf("\033[1;32mFor help, press '?'.\033[0m\r\n");
kendunlop 1:19d183cf2689 594 pc.printf("------------------------------------------\r\n");
kendunlop 1:19d183cf2689 595 char c;
kendunlop 1:19d183cf2689 596
kendunlop 1:19d183cf2689 597 //Check for button presses
kendunlop 1:19d183cf2689 598 while (1)
kendunlop 0:7a500ebaa7a6 599 {
kendunlop 8:6f096b45ca15 600 if (expectationtimer < 100 and expectationresolved == 0)
kendunlop 8:6f096b45ca15 601 {
kendunlop 8:6f096b45ca15 602 if (expectationresolved == 0)
kendunlop 8:6f096b45ca15 603 {
kendunlop 9:7c27efe30a77 604 expectationtimer++;
kendunlop 9:7c27efe30a77 605 if (expectationtimer >= 2)//If expectation timer gets too high, the CAN reply is deemed not to have arrived.
kendunlop 8:6f096b45ca15 606 {
kendunlop 9:7c27efe30a77 607 if (CANmatchstreak > 0) //CAN not arriving breaks any CAN match streak
kendunlop 9:7c27efe30a77 608 {
kendunlop 9:7c27efe30a77 609 CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 610 CANmatchstreakstartID = 0;
kendunlop 9:7c27efe30a77 611 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 612 {
kendunlop 11:abd3df435a2b 613 pc.printf("\r\n\nFrombreakingCANmatchstreak");//Add a return into the terminal to show the old streak on a line by itself.
kendunlop 9:7c27efe30a77 614 }
kendunlop 9:7c27efe30a77 615 }
kendunlop 9:7c27efe30a77 616 if (goodnoreplystreak > 0 and shouldntcomein == 0) //A missing expected reply breaks any combos for expected no-replies
kendunlop 9:7c27efe30a77 617 {
kendunlop 9:7c27efe30a77 618 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 619 {
kendunlop 9:7c27efe30a77 620 //pc.printf("\r\n(From breaking goodnoreplystreak)\n\r");
kendunlop 9:7c27efe30a77 621 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 622 }
kendunlop 9:7c27efe30a77 623 goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 624 goodnoreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 625 }
kendunlop 11:abd3df435a2b 626 // If data did not come in when it was expected...
kendunlop 8:6f096b45ca15 627 if (shouldntcomein == 0)
kendunlop 8:6f096b45ca15 628 {
kendunlop 8:6f096b45ca15 629 expectationwasfulfilled = 0;
kendunlop 8:6f096b45ca15 630 failsthistest++;
kendunlop 8:6f096b45ca15 631 noreplyfailsthistest++;
kendunlop 8:6f096b45ca15 632 if (aspamisgoing == 0)
kendunlop 8:6f096b45ca15 633 {
kendunlop 9:7c27efe30a77 634 noreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 635 }
kendunlop 9:7c27efe30a77 636 if (goodnoreplystreak > 0)
kendunlop 9:7c27efe30a77 637 {
kendunlop 9:7c27efe30a77 638 goodnoreplystreak = 0;
kendunlop 9:7c27efe30a77 639 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 640 {
kendunlop 11:abd3df435a2b 641 pc.printf("(\r\n\n");//Add an extra line if breaking an 'as expected' no reply streak.
kendunlop 9:7c27efe30a77 642 }
kendunlop 8:6f096b45ca15 643 }
kendunlop 11:abd3df435a2b 644 if (failsstreak > 0)
kendunlop 11:abd3df435a2b 645 {
kendunlop 11:abd3df435a2b 646 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 647 {
kendunlop 11:abd3df435a2b 648 pc.printf("\r\n\n");//Add an extra line if breaking a failure 'does not match expectation' streak
kendunlop 11:abd3df435a2b 649 }
kendunlop 11:abd3df435a2b 650 failsstreak = 0;
kendunlop 11:abd3df435a2b 651 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 652 }
kendunlop 9:7c27efe30a77 653 if (aspamisgoing == 1)
kendunlop 9:7c27efe30a77 654 {
kendunlop 9:7c27efe30a77 655 if (noreplystreak == 0)
kendunlop 9:7c27efe30a77 656 {
kendunlop 9:7c27efe30a77 657 noreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 658 }
kendunlop 9:7c27efe30a77 659 noreplystreak++;
kendunlop 9:7c27efe30a77 660 }
kendunlop 9:7c27efe30a77 661 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 662 if (noreplystreakstartid != idlistincrementer)
kendunlop 9:7c27efe30a77 663 {
kendunlop 9:7c27efe30a77 664 pc.printf("\033[38;5;220mNo reply message detected for IDs %03X to %03X.\033[0m\r", noreplystreakstartid, idlistincrementer);
kendunlop 9:7c27efe30a77 665 }
kendunlop 9:7c27efe30a77 666 if (noreplystreakstartid == idlistincrementer)
kendunlop 9:7c27efe30a77 667 {
kendunlop 9:7c27efe30a77 668 pc.printf("\033[38;5;220mNo reply message detected for ID %03X.\033[0m\r", idlistincrementer);
kendunlop 9:7c27efe30a77 669 }
kendunlop 9:7c27efe30a77 670 if (aspamisgoing == 0)
kendunlop 9:7c27efe30a77 671 {
kendunlop 9:7c27efe30a77 672 pc.printf("\r\n\n"); //If it's not spamming, you can safely add a new line after the fail message.
kendunlop 9:7c27efe30a77 673 }
kendunlop 8:6f096b45ca15 674 }
kendunlop 8:6f096b45ca15 675 if (shouldntcomein == 1)
kendunlop 8:6f096b45ca15 676 {
kendunlop 8:6f096b45ca15 677 expectationwasfulfilled = 1;
kendunlop 9:7c27efe30a77 678 //Getting an expected non-reply breaks any unexpected reply streaks
kendunlop 9:7c27efe30a77 679 if (unexpectedCANstreak > 0)
kendunlop 9:7c27efe30a77 680 {
kendunlop 9:7c27efe30a77 681 if (aspamisgoing == 1) //Add a new line if it's in spam mode here to report new expected-non-message stuff.
kendunlop 9:7c27efe30a77 682 {
kendunlop 11:abd3df435a2b 683 //pc.printf("\r\n\n(FrombreakingunexpectedCANstreak)");
kendunlop 9:7c27efe30a77 684 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 685 }
kendunlop 9:7c27efe30a77 686 unexpectedCANstreak = 0;
kendunlop 9:7c27efe30a77 687 unexpectedCANstreakstartid = 0;
kendunlop 9:7c27efe30a77 688 }
kendunlop 9:7c27efe30a77 689 //Getting an expected non-reply also breaks any unexpected non-reply streaks
kendunlop 9:7c27efe30a77 690 if (noreplystreak > 0)
kendunlop 9:7c27efe30a77 691 {
kendunlop 9:7c27efe30a77 692 if (aspamisgoing == 1) //Add a new line if it's in spam mode here to report new expected-non-message stuff.
kendunlop 9:7c27efe30a77 693 {
kendunlop 9:7c27efe30a77 694 //pc.printf("\r\n(From breaking noreplystreak)\n");
kendunlop 9:7c27efe30a77 695 pc.printf("\r\n\n");
kendunlop 9:7c27efe30a77 696 }
kendunlop 9:7c27efe30a77 697 noreplystreak = 0;
kendunlop 9:7c27efe30a77 698 noreplystreakstartid = 0;
kendunlop 9:7c27efe30a77 699 }
kendunlop 11:abd3df435a2b 700 // Also, getting an expected non-reply breaks any CAN-fail streaks
kendunlop 11:abd3df435a2b 701 if (failsstreak > 0 )
kendunlop 11:abd3df435a2b 702 {
kendunlop 11:abd3df435a2b 703 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 704 {
kendunlop 11:abd3df435a2b 705 //pc.printf("\r\n(From breaking CAN-mismatch streak)\n");
kendunlop 11:abd3df435a2b 706 pc.printf("\r\n\n");
kendunlop 11:abd3df435a2b 707 }
kendunlop 11:abd3df435a2b 708 failsstreak = 0;
kendunlop 11:abd3df435a2b 709 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 710 }
kendunlop 9:7c27efe30a77 711 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 712 {
kendunlop 9:7c27efe30a77 713 goodnoreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 714 if (CANmatchstreak > 0 and aspamisgoing == 1)//Also add an extra return for the breaking of the old CANmatchstreak if needed
kendunlop 9:7c27efe30a77 715 {
kendunlop 9:7c27efe30a77 716 CANmatchstreak = 0;
kendunlop 9:7c27efe30a77 717 pc.printf("(From breaking of CANmatchstreak)\r\n");
kendunlop 9:7c27efe30a77 718 }
kendunlop 9:7c27efe30a77 719 }
kendunlop 9:7c27efe30a77 720 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 721 if (aspamisgoing == 0)
kendunlop 9:7c27efe30a77 722 {
kendunlop 9:7c27efe30a77 723 goodnoreplystreakstartid = idlistincrementer;
kendunlop 9:7c27efe30a77 724 }
kendunlop 9:7c27efe30a77 725 if (goodnoreplystreakstartid != idlistincrementer)
kendunlop 9:7c27efe30a77 726 {
kendunlop 9:7c27efe30a77 727 pc.printf("\033[0;32mNo reply message detected from %03X to %03X, as expected.\033[0m\r", goodnoreplystreakstartid, idlistincrementer);
kendunlop 9:7c27efe30a77 728 }
kendunlop 9:7c27efe30a77 729 if (goodnoreplystreakstartid == idlistincrementer)
kendunlop 9:7c27efe30a77 730 {
kendunlop 9:7c27efe30a77 731 pc.printf("\033[0;32mNo reply message detected for ID %03X, as expected.\033[0m\r", goodnoreplystreakstartid);
kendunlop 9:7c27efe30a77 732 }
kendunlop 9:7c27efe30a77 733 if (aspamisgoing == 0)
kendunlop 9:7c27efe30a77 734 {
kendunlop 11:abd3df435a2b 735 pc.printf("\r\n\n"); //If it's not spamming, you can safely add a new line after the fail message.
kendunlop 9:7c27efe30a77 736 }
kendunlop 9:7c27efe30a77 737 goodnoreplies++;
kendunlop 9:7c27efe30a77 738 goodnoreplystreak++;
kendunlop 8:6f096b45ca15 739 }
kendunlop 8:6f096b45ca15 740 expectationresolved = 1;
kendunlop 8:6f096b45ca15 741 //pc.printf("Expectation timer reached %d!\r\n", expectationtimer);
kendunlop 8:6f096b45ca15 742 expectationtimer = 0;
kendunlop 8:6f096b45ca15 743 if (idspamon == 1)
kendunlop 8:6f096b45ca15 744 {
kendunlop 8:6f096b45ca15 745 idscheckedcount++;
kendunlop 9:7c27efe30a77 746 idlistincrementer++; //Only add 1 to the idlist incrementer at the end so the first ID it sends is '000'.
kendunlop 8:6f096b45ca15 747 }
kendunlop 11:abd3df435a2b 748 if (customentry == 1)
kendunlop 11:abd3df435a2b 749 {
kendunlop 11:abd3df435a2b 750 pc.printf("Enter CAN ID to send: ");
kendunlop 11:abd3df435a2b 751 }
kendunlop 8:6f096b45ca15 752 }
kendunlop 8:6f096b45ca15 753 wait(0.01);
kendunlop 8:6f096b45ca15 754 }
kendunlop 8:6f096b45ca15 755 }
kendunlop 1:19d183cf2689 756 if (pc.readable())
kendunlop 1:19d183cf2689 757 {
kendunlop 9:7c27efe30a77 758 c = tolower(pc.getc());
kendunlop 3:79133dcea836 759 if (c != NULL)
kendunlop 1:19d183cf2689 760 {
kendunlop 3:79133dcea836 761 //When the a key is pressed, define a CAN message and send it.
kendunlop 1:19d183cf2689 762 //pc.printf("A key was pressed! (%c)\r\n", c);
kendunlop 1:19d183cf2689 763 messageOutText = "";
kendunlop 8:6f096b45ca15 764 buttonPressMessageOutText = "";
kendunlop 11:abd3df435a2b 765 if (c == '1' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 766 {
kendunlop 11:abd3df435a2b 767 buttonPressMessageOutText = "301 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 768 idlistincrementer = 0x301;
kendunlop 7:a9150dc1e481 769 }
kendunlop 11:abd3df435a2b 770 if (c == '2' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 771 {
kendunlop 11:abd3df435a2b 772 buttonPressMessageOutText = "302 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 773 idlistincrementer = 0x302;
kendunlop 7:a9150dc1e481 774 }
kendunlop 11:abd3df435a2b 775 if (c == '3' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 776 {
kendunlop 11:abd3df435a2b 777 buttonPressMessageOutText = "303 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 778 idlistincrementer = 0x303;
kendunlop 7:a9150dc1e481 779 }
kendunlop 11:abd3df435a2b 780 if (c == '4' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 781 {
kendunlop 11:abd3df435a2b 782 buttonPressMessageOutText = "304 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 783 idlistincrementer = 0x304;
kendunlop 7:a9150dc1e481 784 }
kendunlop 11:abd3df435a2b 785 if (c == '5' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 786 {
kendunlop 11:abd3df435a2b 787 buttonPressMessageOutText = "15B 8 01 02 03 04 05 06 07 08";
kendunlop 11:abd3df435a2b 788 idlistincrementer = 0x15B;
kendunlop 7:a9150dc1e481 789 }
kendunlop 11:abd3df435a2b 790 if (c == '6' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 791 {
kendunlop 11:abd3df435a2b 792 buttonPressMessageOutText = "306 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 793 idlistincrementer = 0x306;
kendunlop 7:a9150dc1e481 794 }
kendunlop 11:abd3df435a2b 795 if (c == '7' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 796 {
kendunlop 11:abd3df435a2b 797 buttonPressMessageOutText = "307 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 798 idlistincrementer = 0x307;
kendunlop 7:a9150dc1e481 799 }
kendunlop 11:abd3df435a2b 800 if (c == '8' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 801 {
kendunlop 11:abd3df435a2b 802 buttonPressMessageOutText = "308 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 803 idlistincrementer = 0x308;
kendunlop 7:a9150dc1e481 804 }
kendunlop 11:abd3df435a2b 805 if (c == '9' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 806 {
kendunlop 11:abd3df435a2b 807 buttonPressMessageOutText = "309 8 01 02 03 04 05 06 07 08";
kendunlop 9:7c27efe30a77 808 idlistincrementer = 0x309;
kendunlop 7:a9150dc1e481 809 }
kendunlop 11:abd3df435a2b 810 if (c == '0' and normalkeypresses == 1)
kendunlop 7:a9150dc1e481 811 {
kendunlop 9:7c27efe30a77 812 buttonPressMessageOutText = "7FF 8 FF FF FF FF FF FF FF FF";//NOTE: CAN IDs only go to 7FF, not FFF.
kendunlop 10:3e15baff40e7 813 idlistincrementer = 0x7FF;
kendunlop 10:3e15baff40e7 814 }
kendunlop 11:abd3df435a2b 815 if (c == 'a' and normalkeypresses == 1)
kendunlop 10:3e15baff40e7 816 {
kendunlop 11:abd3df435a2b 817 listen = 1;
kendunlop 11:abd3df435a2b 818 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 819 pc.printf("");
kendunlop 10:3e15baff40e7 820 resettest();
kendunlop 10:3e15baff40e7 821 incrementer = 0x333;
kendunlop 10:3e15baff40e7 822 spamstarttime = clock();
kendunlop 10:3e15baff40e7 823 speedspamison = 1;
kendunlop 10:3e15baff40e7 824 aspamisgoing = 1;
kendunlop 11:abd3df435a2b 825 normalkeypresses = 0;
kendunlop 10:3e15baff40e7 826 messageOut1.format = CANStandard; //Quickly define a convenient messageOut for the speed spam to use.
kendunlop 10:3e15baff40e7 827 messageOut1.id = 0x301;
kendunlop 10:3e15baff40e7 828 messageOut1.len = 8;
kendunlop 10:3e15baff40e7 829 messageOut1.data[0] = 0x06;
kendunlop 10:3e15baff40e7 830 messageOut1.data[1] = 0x3f;
kendunlop 10:3e15baff40e7 831 messageOut1.data[2] = 0xb2;
kendunlop 10:3e15baff40e7 832 messageOut1.data[3] = 0x29;
kendunlop 10:3e15baff40e7 833 messageOut1.data[4] = 0x19;
kendunlop 10:3e15baff40e7 834 messageOut1.data[5] = 0x97;
kendunlop 10:3e15baff40e7 835 messageOut1.data[6] = 0x67;
kendunlop 10:3e15baff40e7 836 messageOut1.data[7] = 0x37;
kendunlop 11:abd3df435a2b 837 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 838 }
kendunlop 11:abd3df435a2b 839 if (c == 27 and speedspamison == 1)//Cancel speed spam mode
kendunlop 10:3e15baff40e7 840 {
kendunlop 10:3e15baff40e7 841 //pc.printf("\r\nEnding baud rate speed test mode from upper key press method.\r\n");
kendunlop 10:3e15baff40e7 842 aspamisgoing = 0;
kendunlop 11:abd3df435a2b 843 normalkeypresses = 1;
kendunlop 10:3e15baff40e7 844 spamendtime = clock();
kendunlop 10:3e15baff40e7 845 //endtest();
kendunlop 10:3e15baff40e7 846 getspamsecondstotal();
kendunlop 10:3e15baff40e7 847 endspeedtest();
kendunlop 10:3e15baff40e7 848 speedspamison = 0;
kendunlop 8:6f096b45ca15 849 }
kendunlop 8:6f096b45ca15 850 if (buttonPressMessageOutText != "")//Centralized 'button press MessageOut' routine that applies to all button presses.
kendunlop 8:6f096b45ca15 851 {
kendunlop 8:6f096b45ca15 852 if (aspamisgoing == 0)
kendunlop 8:6f096b45ca15 853 {
kendunlop 9:7c27efe30a77 854 //addnewlineifneeded();
kendunlop 11:abd3df435a2b 855 //resetCANbuses();
kendunlop 11:abd3df435a2b 856 listen = 1;
kendunlop 8:6f096b45ca15 857 messageOutText = buttonPressMessageOutText;
kendunlop 8:6f096b45ca15 858 addnewlinetonextmessage = 1;
kendunlop 8:6f096b45ca15 859 checklaterbytes = 1;//Check all bytes for button-press messages.
kendunlop 8:6f096b45ca15 860 }
kendunlop 8:6f096b45ca15 861 buttonPressMessageOutText = "";
kendunlop 7:a9150dc1e481 862 }
kendunlop 11:abd3df435a2b 863 if (c == '/' and normalkeypresses == 1)
kendunlop 11:abd3df435a2b 864 {
kendunlop 11:abd3df435a2b 865 displayhelp();
kendunlop 11:abd3df435a2b 866 }
kendunlop 11:abd3df435a2b 867 if (c == '?' and normalkeypresses == 1)
kendunlop 11:abd3df435a2b 868 {
kendunlop 11:abd3df435a2b 869 displayhelp();
kendunlop 11:abd3df435a2b 870 }
kendunlop 11:abd3df435a2b 871 if (c == 'q' and normalkeypresses == 1)
kendunlop 3:79133dcea836 872 {
kendunlop 9:7c27efe30a77 873 pc.printf("Changing Mbed CAN bus speed to 125.\r\n");
kendunlop 3:79133dcea836 874 CanBus.frequency(125 * 1000); // CAN bus at 125k
kendunlop 5:bf4c6278ca8b 875 CanBus2.frequency(125 * 1000); // CAN bus at 125k
kendunlop 9:7c27efe30a77 876 mbedCANbusspeed = (125 * 1000);
kendunlop 3:79133dcea836 877 }
kendunlop 11:abd3df435a2b 878 if (c == 'w' and normalkeypresses == 1)
kendunlop 3:79133dcea836 879 {
kendunlop 9:7c27efe30a77 880 pc.printf("Changing Mbed CAN bus speed to 250.\r\n");
kendunlop 3:79133dcea836 881 CanBus.frequency(250 * 1000); // CAN bus at 250k
kendunlop 5:bf4c6278ca8b 882 CanBus2.frequency(250 * 1000); // CAN bus at 250k
kendunlop 9:7c27efe30a77 883 mbedCANbusspeed = (250 * 1000);
kendunlop 3:79133dcea836 884 }
kendunlop 11:abd3df435a2b 885 if (c == 'e' and normalkeypresses == 1)
kendunlop 3:79133dcea836 886 {
kendunlop 9:7c27efe30a77 887 pc.printf("Changing Mbed CAN bus speed to 500.\r\n");
kendunlop 3:79133dcea836 888 CanBus.frequency(500 * 1000); // CAN bus at 500k
kendunlop 3:79133dcea836 889 CanBus2.frequency(500 * 1000);// CAN bus at 500k
kendunlop 9:7c27efe30a77 890 mbedCANbusspeed = (500 * 1000);
kendunlop 3:79133dcea836 891 }
kendunlop 11:abd3df435a2b 892 if (c == 'r' and normalkeypresses == 1)
kendunlop 3:79133dcea836 893 {
kendunlop 9:7c27efe30a77 894 pc.printf("Changing Mbed CAN bus speed to 1000.\r\n");
kendunlop 3:79133dcea836 895 CanBus.frequency(1000 * 1000); // CAN bus at 1000k
kendunlop 3:79133dcea836 896 CanBus2.frequency(1000 * 1000); // CAN bus at 1000k
kendunlop 9:7c27efe30a77 897 mbedCANbusspeed = (1000 * 1000);
kendunlop 3:79133dcea836 898 }
kendunlop 11:abd3df435a2b 899 if (c == 't' and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 900 {
kendunlop 9:7c27efe30a77 901 CANGatewayCANbusspeed = (125 * 1000);
kendunlop 9:7c27efe30a77 902 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 903 }
kendunlop 11:abd3df435a2b 904 if (c == 'y' and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 905 {
kendunlop 9:7c27efe30a77 906 CANGatewayCANbusspeed = (250 * 1000);
kendunlop 9:7c27efe30a77 907 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 908 }
kendunlop 11:abd3df435a2b 909 if (c == 'u' and normalkeypresses == 1)
kendunlop 8:6f096b45ca15 910 {
kendunlop 9:7c27efe30a77 911 CANGatewayCANbusspeed = (500 * 1000);
kendunlop 9:7c27efe30a77 912 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 913 }
kendunlop 11:abd3df435a2b 914 if (c == 'i' and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 915 {
kendunlop 9:7c27efe30a77 916 CANGatewayCANbusspeed = (1000 * 1000);
kendunlop 9:7c27efe30a77 917 pc.printf("CAN Gateway is now presumed to be at CAN bus speed %d.\r\n", CANGatewayCANbusspeed / 1000);
kendunlop 9:7c27efe30a77 918 }
kendunlop 11:abd3df435a2b 919 if (c == 'k' and normalkeypresses == 1)
kendunlop 11:abd3df435a2b 920 {
kendunlop 11:abd3df435a2b 921 pc.printf("Will enter custom CAN entry mode. (Press 'Esc' to end.)\r\nEnter CAN ID to send: ");
kendunlop 11:abd3df435a2b 922 customentry = 1;
kendunlop 11:abd3df435a2b 923 normalkeypresses = 0;
kendunlop 11:abd3df435a2b 924 c = NULL;
kendunlop 11:abd3df435a2b 925 customentrystring = "";
kendunlop 11:abd3df435a2b 926 }
kendunlop 11:abd3df435a2b 927 if (c == 27 and customentry == 1)//Pressing Esc ends Custom Entry mode
kendunlop 11:abd3df435a2b 928 {
kendunlop 11:abd3df435a2b 929 customentry = 0;
kendunlop 11:abd3df435a2b 930 normalkeypresses = 1;
kendunlop 11:abd3df435a2b 931 pc.printf("\r\nEnding custom entry mode.\r\n");
kendunlop 11:abd3df435a2b 932 c = NULL;
kendunlop 11:abd3df435a2b 933 }
kendunlop 11:abd3df435a2b 934 if (c == 13 and customentry == 1 and customentrystring != "")//Pressing enter in Custom Entry mode tries to send a CAN message
kendunlop 11:abd3df435a2b 935 {
kendunlop 11:abd3df435a2b 936 pc.printf("\r\n");
kendunlop 11:abd3df435a2b 937 //pc.printf("Will try to confirm CES ('%s').\r\n", customentrystring);
kendunlop 11:abd3df435a2b 938 if (customentrystring.length() < 3)
kendunlop 11:abd3df435a2b 939 {
kendunlop 11:abd3df435a2b 940 customentrystring = "0" + customentrystring;
kendunlop 11:abd3df435a2b 941 }
kendunlop 11:abd3df435a2b 942 if (customentrystring.length() < 3)
kendunlop 11:abd3df435a2b 943 {
kendunlop 11:abd3df435a2b 944 customentrystring = "0" + customentrystring;
kendunlop 11:abd3df435a2b 945 }
kendunlop 11:abd3df435a2b 946 checklaterbytes = 1;
kendunlop 11:abd3df435a2b 947 partincrement = 0;
kendunlop 11:abd3df435a2b 948 part = customentrystring;
kendunlop 11:abd3df435a2b 949 dealwithpart();
kendunlop 11:abd3df435a2b 950 //pc.printf("Hextotal now says '%d'.\r\n", hextotal);
kendunlop 11:abd3df435a2b 951 if (hextotal > 0x7FF)//If the measured total is more than 0x7FF (the max ID), reduce it.
kendunlop 11:abd3df435a2b 952 {
kendunlop 11:abd3df435a2b 953 hextotal = 0x7FF;
kendunlop 11:abd3df435a2b 954 customentrystring = "7FF";
kendunlop 11:abd3df435a2b 955 }
kendunlop 11:abd3df435a2b 956 if (hextotal < 0) // If the measured total is less than zero, make it zero instead.
kendunlop 11:abd3df435a2b 957 {
kendunlop 11:abd3df435a2b 958 hextotal = 0x000;
kendunlop 11:abd3df435a2b 959 customentrystring = "000";
kendunlop 11:abd3df435a2b 960 }
kendunlop 11:abd3df435a2b 961 messageOutText = customentrystring + " 8 01 02 03 04 05 06 07 08";
kendunlop 11:abd3df435a2b 962 customentrystring = "";
kendunlop 11:abd3df435a2b 963 if (expectationresolved == 1 and messageOutText == "")
kendunlop 11:abd3df435a2b 964 {
kendunlop 11:abd3df435a2b 965 pc.printf("Enter CAN ID to send: ");
kendunlop 11:abd3df435a2b 966 }
kendunlop 11:abd3df435a2b 967 }
kendunlop 11:abd3df435a2b 968 if (c != NULL and customentry == 1 and expectationresolved == 1 and messageOutText == "")
kendunlop 11:abd3df435a2b 969 {
kendunlop 11:abd3df435a2b 970 //pc.printf("Custom entry detected! (%c)\r\n", c);
kendunlop 11:abd3df435a2b 971 if (c != '\r' and c != 8 and customentrystring.length() < 3) //Normal key presses add to the custom string.
kendunlop 11:abd3df435a2b 972 {
kendunlop 11:abd3df435a2b 973 customentrystring.push_back(toupper(c));
kendunlop 11:abd3df435a2b 974 //pc.printf("Custom entry string now says '%s'.", customentrystring);
kendunlop 11:abd3df435a2b 975 }
kendunlop 11:abd3df435a2b 976 if (c == 8 and customentrystring.length() > 0) //Backspace (character 8) causes the text to go back one character.
kendunlop 11:abd3df435a2b 977 {
kendunlop 11:abd3df435a2b 978 pc.printf("\b ");
kendunlop 11:abd3df435a2b 979 customentrystring.erase(customentrystring.size()-1,1);
kendunlop 11:abd3df435a2b 980 }
kendunlop 11:abd3df435a2b 981 pc.printf("\rEnter CAN ID to send: %s", customentrystring);
kendunlop 11:abd3df435a2b 982 }
kendunlop 11:abd3df435a2b 983 if (c == 'n' and CANpassthrough == 0 and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 984 {
kendunlop 9:7c27efe30a77 985 pc.printf("Starting CAN passthrough mode. Will expect to recieve the same CAN that is sent.\r\n");
kendunlop 9:7c27efe30a77 986 CANpassthrough = 1;
kendunlop 9:7c27efe30a77 987 }
kendunlop 11:abd3df435a2b 988 if (c == 'm' and CANpassthrough == 1 and normalkeypresses == 1)
kendunlop 9:7c27efe30a77 989 {
kendunlop 9:7c27efe30a77 990 pc.printf("Will make a CAN ID translation array.\r\n");
kendunlop 8:6f096b45ca15 991 //Making a two-dimensional array with 301-309 in the first column, then 401-409 in the second column.
kendunlop 11:abd3df435a2b 992 int copyarray[2][8][10] = {
kendunlop 11:abd3df435a2b 993 { {0x301,0x8, 0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x302,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x303,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x304,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x305,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x306,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x308,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08}, {0x309,0x8,0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08} },
kendunlop 11:abd3df435a2b 994 { {0x401,0x8,0x08,0x00,0x00,0x00,0x04,0x05,0x06,0x01}, {0x402,0x8,0x04,0x05,0x06,0x07,0x06,0x07,0x08,0x00}, {0x403,0x8,0x03,0x04,0x05,0x05,0x06,0x80,0x00,0x00}, {0x404,0x8,0x04,0x05,0x06,0x07,0x06,0x07,0x08,0x00}, {0x405,0x8,0x04,0x05,0x06,0x07,0x06,0x07,0x08,0x00}, {0x406,0x8,0x02,0x03,0x00,0x00,0x00,0x00,0x00,0x00}, {0x408,0x8,0x06,0x07,0x08,0x00,0x00,0x00,0x00,0x00}, {0x409,0x8,0x06,0x07,0x08,0x00,0x00,0x00,0x00,0x00} },
kendunlop 11:abd3df435a2b 995 };
kendunlop 11:abd3df435a2b 996 //int copyarray[2][8][10] = {{769, 770, 771, 772, 773, 774, 776, 777}, {1025, 1026, 1027, 1028, 1029, 1030, 1032, 1033}};
kendunlop 8:6f096b45ca15 997 //int copyarray[2][1] = {{2047}, {1025}};
kendunlop 8:6f096b45ca15 998 memcpy(idsarray, copyarray, sizeof(copyarray)); //Copy the new array over the old 'idsarray'.
kendunlop 8:6f096b45ca15 999 arrayx = 2;
kendunlop 8:6f096b45ca15 1000 arrayy = 8;
kendunlop 11:abd3df435a2b 1001 arrayz = 10;
kendunlop 9:7c27efe30a77 1002 //pc.printf("Array is %dx%d.\r\n", arrayx, arrayy); //Report the size variables of the new array.
kendunlop 11:abd3df435a2b 1003 for(int i = 0; i <arrayy; i++)
kendunlop 11:abd3df435a2b 1004 {
kendunlop 11:abd3df435a2b 1005 //pc.printf("Will show contents of table at column %d.\r\n", i);
kendunlop 11:abd3df435a2b 1006 pc.printf("1st column of CAN array (%d) says \033[0;30;47m%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m\r\n", i, idsarray[0][i][0], idsarray[0][i][1], idsarray[0][i][2], idsarray[0][i][3], idsarray[0][i][4], idsarray[0][i][5], idsarray[0][i][6], idsarray[0][i][7], idsarray[0][i][8], idsarray[0][i][9]);
kendunlop 11:abd3df435a2b 1007 pc.printf("2nd column of CAN array (%d) says \033[0;30;47m%03X %01X %02X %02X %02X %02X %02X %02X %02X %02X\033[0m\r\n", i, idsarray[1][i][0], idsarray[1][i][1], idsarray[1][i][2], idsarray[1][i][3], idsarray[1][i][4], idsarray[1][i][5], idsarray[1][i][6], idsarray[1][i][7], idsarray[1][i][8], idsarray[1][i][9]);
kendunlop 11:abd3df435a2b 1008 }
kendunlop 11:abd3df435a2b 1009 //pc.printf("1st column of IDs array says \033[0;30;47m%03X, %01X, %02X, %02X, %02X, %02X, %02X, %02X, %02X, %02X\033[0m\r\n", idsarray[0][0][0], idsarray[0][0][1], idsarray[0][0][2], idsarray[0][0][3], idsarray[0][0][4], idsarray[0][0][5], idsarray[0][0][6], idsarray[0][0][7], idsarray[0][0][8], idsarray[0][0][9]);
kendunlop 11:abd3df435a2b 1010 //pc.printf("2nd column of IDs array says \033[0;30;47m%03X, %01X, %02X, %02X, %02X, %02X, %02X, %02X, %02X, %02X\033[0m\r\n", idsarray[1][0][0], idsarray[1][0][1], idsarray[1][0][2], idsarray[1][0][3], idsarray[1][0][4], idsarray[1][0][5], idsarray[1][0][6], idsarray[1][0][7], idsarray[1][0][8], idsarray[1][0][9]);
kendunlop 8:6f096b45ca15 1011 //pc.printf("1st column of IDs array says %d.\r\n", idsarray[0][0]);
kendunlop 8:6f096b45ca15 1012 //pc.printf("2nd column of IDs array says %d.\r\n", idsarray[1][0]);
kendunlop 8:6f096b45ca15 1013 CANpassthrough = 0;
kendunlop 8:6f096b45ca15 1014 pc.printf("CANpassthrough is now set to %d.\r\n", CANpassthrough);
kendunlop 8:6f096b45ca15 1015 /*
kendunlop 8:6f096b45ca15 1016 pc.printf("Will search for '305' in row 1.\r\n");
kendunlop 8:6f096b45ca15 1017 //Search for '305' in the array.
kendunlop 8:6f096b45ca15 1018 for(int i = 0; i <=arrayy; i++)
kendunlop 8:6f096b45ca15 1019 {
kendunlop 8:6f096b45ca15 1020 if(idsarray[0][i] == 305)
kendunlop 8:6f096b45ca15 1021 {
kendunlop 8:6f096b45ca15 1022 pc.printf("Element is found at 0,%d.\r\n", i);
kendunlop 8:6f096b45ca15 1023 }
kendunlop 8:6f096b45ca15 1024 }
kendunlop 8:6f096b45ca15 1025 */
kendunlop 8:6f096b45ca15 1026 }
kendunlop 7:a9150dc1e481 1027 //if (c == 's')
kendunlop 7:a9150dc1e481 1028 // {
kendunlop 7:a9150dc1e481 1029 // pc.printf("Sending authentic sats message.\r\n");
kendunlop 7:a9150dc1e481 1030 // messageOutText = "301 8 06 3F B2 29 12 97 67 37";
kendunlop 7:a9150dc1e481 1031 // }
kendunlop 8:6f096b45ca15 1032 if (c == 'o' and idspamon == 0 and spamon == 1)
kendunlop 3:79133dcea836 1033 {
kendunlop 3:79133dcea836 1034 incrementer = (incrementer * 16);
kendunlop 10:3e15baff40e7 1035 pc.printf("\n\rMultiplied Incrementer by 16. It's now %d.\r\n", incrementer);
kendunlop 3:79133dcea836 1036 }
kendunlop 9:7c27efe30a77 1037 if (c == 'i' and spamon == 1)
kendunlop 1:19d183cf2689 1038 {
kendunlop 1:19d183cf2689 1039 incrementer = incrementer + 16;
kendunlop 1:19d183cf2689 1040 std::stringstream sstream;
kendunlop 1:19d183cf2689 1041 sstream << std::hex << incrementer;
kendunlop 1:19d183cf2689 1042 string stringsofar = sstream.str();
kendunlop 1:19d183cf2689 1043 //pc.printf("Incrementer is now %d.\r\n", incrementer);
kendunlop 1:19d183cf2689 1044 //pc.printf("StringStream says '%s'.\r\n", stringsofar);
kendunlop 1:19d183cf2689 1045 int length = stringsofar.length();
kendunlop 1:19d183cf2689 1046 //pc.printf("Length is %d/16.\r\n", length);
kendunlop 1:19d183cf2689 1047 for (int i = 0; i < (16-length); i++)
kendunlop 1:19d183cf2689 1048 stringsofar = "0" + stringsofar;
kendunlop 1:19d183cf2689 1049 //pc.printf("stringsofar says '%s'.\r\n", stringsofar);
kendunlop 9:7c27efe30a77 1050 //messageOutText = "305 8 " + stringsofar;
kendunlop 1:19d183cf2689 1051 //pc.printf("Will try to send '%s'.\r\n", messageOutText);
kendunlop 1:19d183cf2689 1052 }
kendunlop 1:19d183cf2689 1053 messageOut1.format = CANStandard;
kendunlop 11:abd3df435a2b 1054 if (c == 'z' and normalkeypresses == 1)
kendunlop 1:19d183cf2689 1055 {
kendunlop 7:a9150dc1e481 1056 resettest();
kendunlop 11:abd3df435a2b 1057 pc.printf("Starting spam sequence for ID %s. Press 'Esc' to end. Press 'o' to increase incrementer.\r\n", spampreamble);
kendunlop 10:3e15baff40e7 1058 idlistincrementer = 0x333;
kendunlop 10:3e15baff40e7 1059 reportbaudrates();
kendunlop 1:19d183cf2689 1060 spamon = 1;
kendunlop 8:6f096b45ca15 1061 aspamisgoing = 1;
kendunlop 11:abd3df435a2b 1062 normalkeypresses = 0;
kendunlop 8:6f096b45ca15 1063 checklaterbytes = 1;
kendunlop 1:19d183cf2689 1064 incrementer = 0;
kendunlop 2:11339018dda6 1065 spamcount = 0;
kendunlop 3:79133dcea836 1066 spamstarttime = clock();
kendunlop 9:7c27efe30a77 1067 //pc.printf("Spam start time is %d.\r\n", spamstarttime);
kendunlop 1:19d183cf2689 1068 }
kendunlop 11:abd3df435a2b 1069 if (c == 27 and spamon == 1)//Cancel normal '333' incrementing spam mode
kendunlop 1:19d183cf2689 1070 {
kendunlop 10:3e15baff40e7 1071 pc.printf("\r\n");
kendunlop 8:6f096b45ca15 1072 spamon = 2;
kendunlop 8:6f096b45ca15 1073 aspamisgoing = 0;
kendunlop 11:abd3df435a2b 1074 normalkeypresses = 1;
kendunlop 3:79133dcea836 1075 spamendtime = clock();
kendunlop 9:7c27efe30a77 1076 getspamsecondstotal();//Process the spam information
kendunlop 9:7c27efe30a77 1077 //pc.printf("Total spams ever are %d.\r\n", totalspamsever);
kendunlop 7:a9150dc1e481 1078 endtest();
kendunlop 7:a9150dc1e481 1079 //pc.printf("-------------------------\r\n");
kendunlop 3:79133dcea836 1080 }
kendunlop 11:abd3df435a2b 1081 if (c == 27 and idspamon == 1)//Cancel CAN ID spam mode
kendunlop 11:abd3df435a2b 1082 {
kendunlop 11:abd3df435a2b 1083 //pc.printf("Cancelling ID test mode.\r\n");
kendunlop 11:abd3df435a2b 1084 testwasaborted = 1;
kendunlop 11:abd3df435a2b 1085 endidspamtest();
kendunlop 11:abd3df435a2b 1086 normalkeypresses = 1;
kendunlop 11:abd3df435a2b 1087 }
kendunlop 11:abd3df435a2b 1088 if (c == 'v' and normalkeypresses == 1)
kendunlop 3:79133dcea836 1089 {
kendunlop 7:a9150dc1e481 1090 resettest();
kendunlop 6:2882710e4f1e 1091 idspamon = 1; //Set the 'idspamon' integer to 1 so ID spam happens.
kendunlop 8:6f096b45ca15 1092 aspamisgoing = 1;
kendunlop 11:abd3df435a2b 1093 normalkeypresses = 0;
kendunlop 11:abd3df435a2b 1094 checklaterbytes = 1;
kendunlop 6:2882710e4f1e 1095 idlistincrementer = 0;
kendunlop 11:abd3df435a2b 1096 pc.printf("Beginning check of all possible CAN IDs (000 - 7FF). Press 'Esc' to abort.\r\n");
kendunlop 10:3e15baff40e7 1097 reportbaudrates();
kendunlop 9:7c27efe30a77 1098 spamstarttime = clock();
kendunlop 9:7c27efe30a77 1099 //pc.printf("Spam started at clock time %d.\r\n", spamstarttime);
kendunlop 8:6f096b45ca15 1100 if (checklaterbytes == 0)
kendunlop 8:6f096b45ca15 1101 {
kendunlop 8:6f096b45ca15 1102 pc.printf("Will only check CAN IDs, not later bytes.\r\n");
kendunlop 8:6f096b45ca15 1103 }
kendunlop 11:abd3df435a2b 1104 if (checklaterbytes == 1)
kendunlop 11:abd3df435a2b 1105 {
kendunlop 11:abd3df435a2b 1106 pc.printf("Will check all bytes in each CAN message.\r\n");
kendunlop 11:abd3df435a2b 1107 }
kendunlop 1:19d183cf2689 1108 }
kendunlop 10:3e15baff40e7 1109 if (messageOutText != "" and speedspamison == 0)
kendunlop 1:19d183cf2689 1110 {
kendunlop 6:2882710e4f1e 1111 getCANfrommessageOutText();
kendunlop 7:a9150dc1e481 1112 sendCAN();
kendunlop 7:a9150dc1e481 1113 //CanBus.write(messageOut1);
kendunlop 7:a9150dc1e481 1114 //CanBus2.write(messageOut1);
kendunlop 6:2882710e4f1e 1115 if (spamon == 0 and idspamon == 0)
kendunlop 3:79133dcea836 1116 {
kendunlop 7:a9150dc1e481 1117 //printMessageOut();
kendunlop 3:79133dcea836 1118 }
kendunlop 3:79133dcea836 1119 messageOutText = "";
kendunlop 1:19d183cf2689 1120 }
kendunlop 5:bf4c6278ca8b 1121 }
kendunlop 4:e8e9bc25b1ca 1122 }
kendunlop 5:bf4c6278ca8b 1123
kendunlop 4:e8e9bc25b1ca 1124
kendunlop 7:a9150dc1e481 1125 //If spam mode is on, spam an incrementing CAN message
kendunlop 8:6f096b45ca15 1126 if (spamon == 1 and expectationresolved == 1)
kendunlop 5:bf4c6278ca8b 1127 {
kendunlop 5:bf4c6278ca8b 1128 spamcount ++;
kendunlop 5:bf4c6278ca8b 1129 totalspamsever ++;
kendunlop 5:bf4c6278ca8b 1130 incrementer ++;
kendunlop 5:bf4c6278ca8b 1131 std::stringstream sstream;
kendunlop 5:bf4c6278ca8b 1132 sstream << std::hex << incrementer;
kendunlop 5:bf4c6278ca8b 1133 string stringsofar = sstream.str();
kendunlop 5:bf4c6278ca8b 1134 int length = stringsofar.length();
kendunlop 5:bf4c6278ca8b 1135 for (int i = 0; i < (16-length); i++)
kendunlop 5:bf4c6278ca8b 1136 stringsofar = "0" + stringsofar;
kendunlop 6:2882710e4f1e 1137 messageOutText = spampreamble + " 8 " + stringsofar;
kendunlop 6:2882710e4f1e 1138 getCANfrommessageOutText();
kendunlop 7:a9150dc1e481 1139 sendCAN();
kendunlop 5:bf4c6278ca8b 1140 }
kendunlop 8:6f096b45ca15 1141 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 1142 {
kendunlop 11:abd3df435a2b 1143 endidspamtest();
kendunlop 8:6f096b45ca15 1144 }
kendunlop 8:6f096b45ca15 1145 if (idspamon == 1 and expectationresolved == 1)
kendunlop 6:2882710e4f1e 1146 {
kendunlop 9:7c27efe30a77 1147 spamcount++;
kendunlop 6:2882710e4f1e 1148 std::stringstream sstream;
kendunlop 6:2882710e4f1e 1149 sstream << std::hex << idlistincrementer;
kendunlop 6:2882710e4f1e 1150 string idstring = "";
kendunlop 6:2882710e4f1e 1151 idstring = sstream.str();
kendunlop 6:2882710e4f1e 1152 //pc.printf("idstring says '%s'\r\n", idstring);
kendunlop 6:2882710e4f1e 1153 if (idstring.length() < 3)
kendunlop 6:2882710e4f1e 1154 {
kendunlop 6:2882710e4f1e 1155 for (int i = 0; i < (4 - idstring.length()); i++)
kendunlop 6:2882710e4f1e 1156 {
kendunlop 6:2882710e4f1e 1157 idstring = "0" + idstring;
kendunlop 6:2882710e4f1e 1158 }
kendunlop 6:2882710e4f1e 1159 }
kendunlop 6:2882710e4f1e 1160 //pc.printf("idstring now says '%s'\r\n", idstring);
kendunlop 6:2882710e4f1e 1161 //pc.printf("%s\r\n", idstring);
kendunlop 7:a9150dc1e481 1162 idstring = idstring + " 8 01 02 03 04 05 06 07 08";
kendunlop 6:2882710e4f1e 1163 //pc.printf("...and now idstring now says '%s'\r\n", idstring);
kendunlop 6:2882710e4f1e 1164 messageOutText = idstring;
kendunlop 6:2882710e4f1e 1165 getCANfrommessageOutText();
kendunlop 7:a9150dc1e481 1166 sendCAN();
kendunlop 7:a9150dc1e481 1167 //CanBus.write(messageOut1);
kendunlop 7:a9150dc1e481 1168 //CanBus2.write(messageOut1);
kendunlop 6:2882710e4f1e 1169 //pc.printf("ID list incrementer is now %d\r\n", idlistincrementer);
kendunlop 6:2882710e4f1e 1170 wait(0.01);//ID spam at 100Hz
kendunlop 6:2882710e4f1e 1171 }
kendunlop 11:abd3df435a2b 1172
kendunlop 11:abd3df435a2b 1173 //Optional: mention any un-listened-to CAN messages. Having this stopped it from reading messages in when listen was on.
kendunlop 11:abd3df435a2b 1174 //if (CanBus2.read(messageIn) and listen == 0)
kendunlop 10:3e15baff40e7 1175 // {
kendunlop 11:abd3df435a2b 1176 // pc.printf("(Un-listened-to CAN message came in.)\r\n");
kendunlop 10:3e15baff40e7 1177 // }
kendunlop 11:abd3df435a2b 1178
kendunlop 11:abd3df435a2b 1179 //Check for CAN messages coming in
kendunlop 11:abd3df435a2b 1180 if (CanBus2.read(messageIn) and listen == 1)
kendunlop 7:a9150dc1e481 1181 {
kendunlop 10:3e15baff40e7 1182 if (speedspamison == 1)
kendunlop 9:7c27efe30a77 1183 {
kendunlop 10:3e15baff40e7 1184 messagesincount++;
kendunlop 10:3e15baff40e7 1185 //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 1186 }
kendunlop 10:3e15baff40e7 1187 if (speedspamison == 0)
kendunlop 7:a9150dc1e481 1188 {
kendunlop 10:3e15baff40e7 1189 //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 1190 if (noreplystreak > 0)
kendunlop 9:7c27efe30a77 1191 {
kendunlop 10:3e15baff40e7 1192 noreplystreak = 0;
kendunlop 10:3e15baff40e7 1193 noreplystreakstartid = 0;
kendunlop 10:3e15baff40e7 1194 pc.printf("\r\n\n");
kendunlop 10:3e15baff40e7 1195 }
kendunlop 10:3e15baff40e7 1196 if (goodnoreplystreak > 0)
kendunlop 10:3e15baff40e7 1197 {
kendunlop 10:3e15baff40e7 1198 goodnoreplystreak = 0;
kendunlop 10:3e15baff40e7 1199 goodnoreplystreakstartid = 0;
kendunlop 11:abd3df435a2b 1200 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1201 {
kendunlop 11:abd3df435a2b 1202 pc.printf("\r\n\n");
kendunlop 11:abd3df435a2b 1203 }
kendunlop 9:7c27efe30a77 1204 }
kendunlop 10:3e15baff40e7 1205 CANCount++;
kendunlop 10:3e15baff40e7 1206 if (1 == 1)//Prepare to print out the message coming in
kendunlop 7:a9150dc1e481 1207 {
kendunlop 10:3e15baff40e7 1208 //Data shouldn't come in at all if 'shouldntcomein' is 1!
kendunlop 11:abd3df435a2b 1209 //pc.printf("Wah! Unexpected CAN came in!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!\r\n");
kendunlop 10:3e15baff40e7 1210 if (shouldntcomein == 1)
kendunlop 9:7c27efe30a77 1211 {
kendunlop 11:abd3df435a2b 1212 if (failsstreak > 0)
kendunlop 11:abd3df435a2b 1213 {
kendunlop 11:abd3df435a2b 1214 failsstreak = 0;
kendunlop 11:abd3df435a2b 1215 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 1216 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1217 {
kendunlop 11:abd3df435a2b 1218 pc.printf("\n\n\r");
kendunlop 11:abd3df435a2b 1219 }
kendunlop 11:abd3df435a2b 1220 }
kendunlop 10:3e15baff40e7 1221 if (unexpectedCANstreak == 0)//If it's the start of a new unexpected-CAN streak, mark the starting ID.
kendunlop 10:3e15baff40e7 1222 {
kendunlop 10:3e15baff40e7 1223 unexpectedCANstreakstartid = idlistincrementer;
kendunlop 10:3e15baff40e7 1224 }
kendunlop 10:3e15baff40e7 1225 if (aspamisgoing == 0)
kendunlop 10:3e15baff40e7 1226 {
kendunlop 10:3e15baff40e7 1227 unexpectedCANstreakstartid = idlistincrementer;
kendunlop 10:3e15baff40e7 1228 }
kendunlop 11:abd3df435a2b 1229 reportsentCAN();
kendunlop 10:3e15baff40e7 1230 if (unexpectedCANstreakstartid != idlistincrementer)
kendunlop 10:3e15baff40e7 1231 {
kendunlop 10:3e15baff40e7 1232 pc.printf("\033[0;35mUnexpected data came in for IDs %03X to %03X!\033[0m", unexpectedCANstreakstartid, idlistincrementer);
kendunlop 10:3e15baff40e7 1233 }
kendunlop 10:3e15baff40e7 1234 if (unexpectedCANstreakstartid == idlistincrementer)
kendunlop 10:3e15baff40e7 1235 {
kendunlop 10:3e15baff40e7 1236 pc.printf("\033[0;35mUnexpected data came in for %03X!\033[0m", idlistincrementer);
kendunlop 10:3e15baff40e7 1237 }
kendunlop 10:3e15baff40e7 1238 failsthistest++;
kendunlop 10:3e15baff40e7 1239 unexpectedCANfails++;
kendunlop 10:3e15baff40e7 1240 unexpectedCANstreak++;
kendunlop 10:3e15baff40e7 1241 }
kendunlop 10:3e15baff40e7 1242 //Establish earlier whether it's a match in the 10 places
kendunlop 10:3e15baff40e7 1243 int itsamatch = 1;
kendunlop 10:3e15baff40e7 1244 if (expected1 != messageIn.id)
kendunlop 10:3e15baff40e7 1245 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1246 if (expected2 != messageIn.len and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1247 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1248 if (expected3 != messageIn.data[0] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1249 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1250 if (expected4 != messageIn.data[1] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1251 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1252 if (expected5 != messageIn.data[2] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1253 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1254 if (expected6 != messageIn.data[3] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1255 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1256 if (expected7 != messageIn.data[4] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1257 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1258 if (expected8 != messageIn.data[5] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1259 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1260 if (expected9 != messageIn.data[6] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1261 {itsamatch = 0;}
kendunlop 10:3e15baff40e7 1262 if (expected10 != messageIn.data[7] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1263 {itsamatch = 0;}
kendunlop 11:abd3df435a2b 1264
kendunlop 11:abd3df435a2b 1265 //pc.printf("itsamatch %d, shouldntcomein %d.", itsamatch, shouldntcomein);
kendunlop 10:3e15baff40e7 1266 if (itsamatch == 0 and shouldntcomein == 0)
kendunlop 10:3e15baff40e7 1267 {
kendunlop 11:abd3df435a2b 1268 if (failsstreak == 0)
kendunlop 11:abd3df435a2b 1269 {
kendunlop 11:abd3df435a2b 1270 failsstreakstart = idlistincrementer;
kendunlop 11:abd3df435a2b 1271 }
kendunlop 11:abd3df435a2b 1272 failsstreak++;
kendunlop 11:abd3df435a2b 1273 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1274 {
kendunlop 11:abd3df435a2b 1275 failsstreakstart = idlistincrementer;
kendunlop 11:abd3df435a2b 1276 }
kendunlop 11:abd3df435a2b 1277 reportsentCAN(); //Report sent CAN before any 'does not match...' messages
kendunlop 11:abd3df435a2b 1278 if (failsstreakstart == idlistincrementer)
kendunlop 11:abd3df435a2b 1279 {
kendunlop 11:abd3df435a2b 1280 pc.printf("\033[0;31mData for ID %03X does not match expectation!\033[0m", idlistincrementer);
kendunlop 11:abd3df435a2b 1281 }
kendunlop 11:abd3df435a2b 1282 if (failsstreakstart != idlistincrementer)
kendunlop 11:abd3df435a2b 1283 {
kendunlop 11:abd3df435a2b 1284 pc.printf("\033[0;31mData for IDs %03X to %03X does not match expectation!\033[0m", failsstreakstart, idlistincrementer);
kendunlop 11:abd3df435a2b 1285 }
kendunlop 11:abd3df435a2b 1286 }
kendunlop 11:abd3df435a2b 1287 //Decide if a message in will need to be printed ('Message received was:...')
kendunlop 11:abd3df435a2b 1288 messageinisneeded = 0;
kendunlop 11:abd3df435a2b 1289 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1290 {messageinisneeded = 1;}
kendunlop 11:abd3df435a2b 1291 //if (itsamatch == 0 and shouldntcomein == 0)
kendunlop 11:abd3df435a2b 1292 // {messageinisneeded = 1;}
kendunlop 11:abd3df435a2b 1293 if (reportfailsindividually == 1)
kendunlop 11:abd3df435a2b 1294 {messageinisneeded = 1;}
kendunlop 11:abd3df435a2b 1295 // If a message in is destined to be printed, reset the failsstreak if needed
kendunlop 11:abd3df435a2b 1296 if (messageinisneeded == 1 and failsstreak > 0)
kendunlop 11:abd3df435a2b 1297 {
kendunlop 11:abd3df435a2b 1298 failsstreak = 0;
kendunlop 11:abd3df435a2b 1299 failsstreakstart = 0;
kendunlop 10:3e15baff40e7 1300 }
kendunlop 10:3e15baff40e7 1301 // Once it's known whether the data matches expectation, set the match streak
kendunlop 10:3e15baff40e7 1302 if (itsamatch == 1 and shouldntcomein == 0)
kendunlop 10:3e15baff40e7 1303 {
kendunlop 11:abd3df435a2b 1304 if (failsstreak > 0)
kendunlop 11:abd3df435a2b 1305 {
kendunlop 11:abd3df435a2b 1306 failsstreak = 0;
kendunlop 11:abd3df435a2b 1307 failsstreakstart = 0;
kendunlop 11:abd3df435a2b 1308 if (aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1309 {
kendunlop 11:abd3df435a2b 1310 pc.printf("\r\n\n");
kendunlop 11:abd3df435a2b 1311 }
kendunlop 11:abd3df435a2b 1312 }
kendunlop 10:3e15baff40e7 1313 if (CANmatchstreak == 0)
kendunlop 10:3e15baff40e7 1314 {
kendunlop 10:3e15baff40e7 1315 CANmatchstreakstartID = idlistincrementer;
kendunlop 10:3e15baff40e7 1316 }
kendunlop 10:3e15baff40e7 1317 CANmatchstreak++;
kendunlop 10:3e15baff40e7 1318 }
kendunlop 10:3e15baff40e7 1319 if (itsamatch == 0 and CANmatchstreak > 0) //If it's NOT a match, break any CANmatchstreak
kendunlop 10:3e15baff40e7 1320 {
kendunlop 10:3e15baff40e7 1321 CANmatchstreak = 0;
kendunlop 10:3e15baff40e7 1322 CANmatchstreakstartID = 0;
kendunlop 10:3e15baff40e7 1323 }
kendunlop 10:3e15baff40e7 1324 // Print needed message
kendunlop 11:abd3df435a2b 1325 reportsentCAN();
kendunlop 10:3e15baff40e7 1326 if (messageinisneeded == 0) //If a message in is NOT needed, simply report what the CAN is doing on the same line.
kendunlop 10:3e15baff40e7 1327 {
kendunlop 10:3e15baff40e7 1328 if (itsamatch == 1 and CANmatchstreakstartID == idlistincrementer and CANmatchstreak > 0)
kendunlop 10:3e15baff40e7 1329 {
kendunlop 10:3e15baff40e7 1330 pc.printf("\033[0;32mCAN matches expected values on ID %03X.\033[0m", idlistincrementer);
kendunlop 10:3e15baff40e7 1331 }
kendunlop 10:3e15baff40e7 1332 if (itsamatch == 1 and CANmatchstreakstartID != idlistincrementer and CANmatchstreak > 0)
kendunlop 10:3e15baff40e7 1333 {
kendunlop 10:3e15baff40e7 1334 pc.printf("\033[0;32mCAN matches expected values from IDs %03X to %03X.\033[0m", CANmatchstreakstartID, idlistincrementer);
kendunlop 10:3e15baff40e7 1335 }
kendunlop 9:7c27efe30a77 1336 }
kendunlop 10:3e15baff40e7 1337 if (messageinisneeded == 1) //Only if message in is needed do you need to look at printing each part of the message
kendunlop 9:7c27efe30a77 1338 {
kendunlop 10:3e15baff40e7 1339 pc.printf("\r\nMessage received was: ");
kendunlop 10:3e15baff40e7 1340 if (expected1 != messageIn.id)
kendunlop 10:3e15baff40e7 1341 {
kendunlop 10:3e15baff40e7 1342 //pc.printf("\r\nID of %d does NOT match %d.\r\n", messageIn.id, expected1);
kendunlop 10:3e15baff40e7 1343 pc.printf("\033[1;31m%03X\033[0m ", messageIn.id);//Show the ID in red if it doesn't match.
kendunlop 10:3e15baff40e7 1344 }
kendunlop 10:3e15baff40e7 1345 if (expected1 == messageIn.id)
kendunlop 10:3e15baff40e7 1346 {
kendunlop 10:3e15baff40e7 1347 pc.printf("\033[1;32m%03X\033[0m ", messageIn.id);//Show the ID in green if it matches.
kendunlop 10:3e15baff40e7 1348 }
kendunlop 10:3e15baff40e7 1349 if (expected2 != messageIn.len and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1350 {
kendunlop 10:3e15baff40e7 1351 //pc.printf("Length of %d does NOT match %d.\r\n", messageIn.len, expected2);
kendunlop 10:3e15baff40e7 1352 pc.printf("\033[1;31m%01X\033[0m ", messageIn.len);
kendunlop 10:3e15baff40e7 1353 }
kendunlop 10:3e15baff40e7 1354 else
kendunlop 10:3e15baff40e7 1355 {
kendunlop 11:abd3df435a2b 1356 pc.printf("\033[1;32m%01X\033[0m ", messageIn.len);
kendunlop 10:3e15baff40e7 1357 }
kendunlop 10:3e15baff40e7 1358 if (expected3 != messageIn.data[0] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1359 {
kendunlop 10:3e15baff40e7 1360 //pc.printf("Data 0 of %d does NOT match %d.\r\n", messageIn.data[0], expected3);
kendunlop 10:3e15baff40e7 1361 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[0]);
kendunlop 10:3e15baff40e7 1362 }
kendunlop 10:3e15baff40e7 1363 else
kendunlop 10:3e15baff40e7 1364 {
kendunlop 11:abd3df435a2b 1365 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[0]);
kendunlop 10:3e15baff40e7 1366 }
kendunlop 10:3e15baff40e7 1367 if (expected4 != messageIn.data[1] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1368 {
kendunlop 10:3e15baff40e7 1369 //pc.printf("Data 1 of %d does NOT match %d.\r\n", messageIn.data[1], expected4);
kendunlop 10:3e15baff40e7 1370 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[1]);
kendunlop 10:3e15baff40e7 1371 }
kendunlop 10:3e15baff40e7 1372 else
kendunlop 10:3e15baff40e7 1373 {
kendunlop 11:abd3df435a2b 1374 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[1]);
kendunlop 10:3e15baff40e7 1375 }
kendunlop 10:3e15baff40e7 1376 if (expected5 != messageIn.data[2] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1377 {
kendunlop 10:3e15baff40e7 1378 //pc.printf("Data 2 of %d does NOT match %d.\r\n", messageIn.data[2], expected5);
kendunlop 10:3e15baff40e7 1379 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[2]);
kendunlop 10:3e15baff40e7 1380 }
kendunlop 10:3e15baff40e7 1381 else
kendunlop 10:3e15baff40e7 1382 {
kendunlop 11:abd3df435a2b 1383 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[2]);
kendunlop 10:3e15baff40e7 1384 }
kendunlop 10:3e15baff40e7 1385 if (expected6 != messageIn.data[3] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1386 {
kendunlop 10:3e15baff40e7 1387 //pc.printf("Data 3 of %d does NOT match %d.\r\n", messageIn.data[3], expected6);
kendunlop 10:3e15baff40e7 1388 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[3]);
kendunlop 10:3e15baff40e7 1389 }
kendunlop 10:3e15baff40e7 1390
kendunlop 10:3e15baff40e7 1391 else
kendunlop 10:3e15baff40e7 1392 {
kendunlop 11:abd3df435a2b 1393 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[3]);
kendunlop 10:3e15baff40e7 1394 }
kendunlop 10:3e15baff40e7 1395 if (expected7 != messageIn.data[4] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1396 {
kendunlop 10:3e15baff40e7 1397 //pc.printf("Data 4 of %d does NOT match %d.\r\n", messageIn.data[4], expected7);
kendunlop 10:3e15baff40e7 1398 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[4]);
kendunlop 10:3e15baff40e7 1399 }
kendunlop 10:3e15baff40e7 1400 else
kendunlop 10:3e15baff40e7 1401 {
kendunlop 11:abd3df435a2b 1402 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[4]);
kendunlop 10:3e15baff40e7 1403 }
kendunlop 10:3e15baff40e7 1404 if (expected8 != messageIn.data[5] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1405 {
kendunlop 10:3e15baff40e7 1406 //pc.printf("Data 5 of %d does NOT match %d.\r\n", messageIn.data[5], expected8);
kendunlop 10:3e15baff40e7 1407 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[5]);
kendunlop 10:3e15baff40e7 1408 }
kendunlop 10:3e15baff40e7 1409 else
kendunlop 10:3e15baff40e7 1410 {
kendunlop 11:abd3df435a2b 1411 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[5]);
kendunlop 10:3e15baff40e7 1412 }
kendunlop 10:3e15baff40e7 1413 if (expected9 != messageIn.data[6] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1414 {
kendunlop 10:3e15baff40e7 1415 //pc.printf("Data 6 of %d does NOT match %d.\r\n", messageIn.data[6], expected9);
kendunlop 10:3e15baff40e7 1416 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[6]);
kendunlop 10:3e15baff40e7 1417 }
kendunlop 10:3e15baff40e7 1418 else
kendunlop 10:3e15baff40e7 1419 {
kendunlop 11:abd3df435a2b 1420 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[6]);
kendunlop 10:3e15baff40e7 1421 }
kendunlop 10:3e15baff40e7 1422 if (expected10 != messageIn.data[7] and checklaterbytes >= 1)
kendunlop 10:3e15baff40e7 1423 {
kendunlop 10:3e15baff40e7 1424 //pc.printf("Data 7 of %d does NOT match %d.\r\n", messageIn.data[7], expected10);
kendunlop 10:3e15baff40e7 1425 pc.printf("\033[1;31m%02X\033[0m ", messageIn.data[7]);
kendunlop 10:3e15baff40e7 1426 }
kendunlop 10:3e15baff40e7 1427 else
kendunlop 10:3e15baff40e7 1428 {
kendunlop 11:abd3df435a2b 1429 pc.printf("\033[1;32m%02X\033[0m ", messageIn.data[7]);
kendunlop 10:3e15baff40e7 1430 }
kendunlop 11:abd3df435a2b 1431 if (messageinisneeded == 1)
kendunlop 10:3e15baff40e7 1432 {
kendunlop 11:abd3df435a2b 1433 //pc.printf("\r\n(Aftersentoutmessage)");
kendunlop 10:3e15baff40e7 1434 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 1435 }
kendunlop 9:7c27efe30a77 1436 }
kendunlop 10:3e15baff40e7 1437 if (itsamatch == 0)
kendunlop 9:7c27efe30a77 1438 {
kendunlop 10:3e15baff40e7 1439 mismatchfailsthistest++;
kendunlop 10:3e15baff40e7 1440 if (aspamisgoing == 1)
kendunlop 10:3e15baff40e7 1441 {
kendunlop 11:abd3df435a2b 1442 //pc.printf("\r\n(ToseparateMRWfromDNM)"); //Having a new line here separated 'message received was:...' from 'Does NOT match...' too much.
kendunlop 10:3e15baff40e7 1443 }
kendunlop 11:abd3df435a2b 1444 if (messageinisneeded == 1)
kendunlop 10:3e15baff40e7 1445 {
kendunlop 11:abd3df435a2b 1446 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 1447 //pc.printf("Check later bytes is %d.\r\n", checklaterbytes);
kendunlop 11:abd3df435a2b 1448 if (messageinisneeded == 1 and aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1449 {
kendunlop 11:abd3df435a2b 1450 pc.printf("\n\n");
kendunlop 11:abd3df435a2b 1451 }
kendunlop 11:abd3df435a2b 1452 if (messageinisneeded == 1 and aspamisgoing == 1)
kendunlop 11:abd3df435a2b 1453 {
kendunlop 11:abd3df435a2b 1454 pc.printf("\n\n");
kendunlop 11:abd3df435a2b 1455 }
kendunlop 10:3e15baff40e7 1456 }
kendunlop 10:3e15baff40e7 1457 failsthistest++; //Add 1 to failsthistest to mark the fail
kendunlop 10:3e15baff40e7 1458 expectationwasfulfilled = 0;
kendunlop 10:3e15baff40e7 1459 expectationresolved = 1;
kendunlop 10:3e15baff40e7 1460 }
kendunlop 10:3e15baff40e7 1461 if (itsamatch == 1)
kendunlop 10:3e15baff40e7 1462 {
kendunlop 10:3e15baff40e7 1463 expectationwasfulfilled = 1;
kendunlop 10:3e15baff40e7 1464 expectationresolved = 1;
kendunlop 10:3e15baff40e7 1465 matchesthistest++;
kendunlop 10:3e15baff40e7 1466 //If it's a match, write out a 'Matches expectation...' message
kendunlop 11:abd3df435a2b 1467 if (messageinisneeded == 1)
kendunlop 10:3e15baff40e7 1468 {
kendunlop 11:abd3df435a2b 1469 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 1470 if (aspamisgoing == 0)
kendunlop 11:abd3df435a2b 1471 {
kendunlop 11:abd3df435a2b 1472 pc.printf("\n\n");
kendunlop 11:abd3df435a2b 1473 }
kendunlop 10:3e15baff40e7 1474 }
kendunlop 9:7c27efe30a77 1475 }
kendunlop 9:7c27efe30a77 1476 }
kendunlop 10:3e15baff40e7 1477 if (idspamon == 1)
kendunlop 9:7c27efe30a77 1478 {
kendunlop 10:3e15baff40e7 1479 idscheckedcount++;
kendunlop 10:3e15baff40e7 1480 idlistincrementer++; //Only add 1 to the idlist incrementer at the end so the first ID it sends is '000'.
kendunlop 7:a9150dc1e481 1481 }
kendunlop 11:abd3df435a2b 1482 if (customentry == 1)
kendunlop 11:abd3df435a2b 1483 {
kendunlop 11:abd3df435a2b 1484 pc.printf("Enter CAN ID to send: ");
kendunlop 11:abd3df435a2b 1485 }
kendunlop 7:a9150dc1e481 1486 }
kendunlop 10:3e15baff40e7 1487 //If speed-spam is on, spam a CAN message as fast as possible.
kendunlop 1:19d183cf2689 1488 }
kendunlop 10:3e15baff40e7 1489 if (speedspamison == 1)
kendunlop 10:3e15baff40e7 1490 {
kendunlop 10:3e15baff40e7 1491 //sendCAN();
kendunlop 10:3e15baff40e7 1492 CanBus.write(messageOut1);
kendunlop 10:3e15baff40e7 1493 spamcount++;
kendunlop 10:3e15baff40e7 1494 //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 1495 //Pressing 'Esc' switches off speed spam mode
kendunlop 11:abd3df435a2b 1496 wait(0.00001);
kendunlop 10:3e15baff40e7 1497 }
kendunlop 10:3e15baff40e7 1498 }
kendunlop 10:3e15baff40e7 1499 }