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Update CAN_Controller_Test.ino
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@MatthewKuKanich
MatthewKuKanich committed Nov 20, 2023
1 parent b04216c commit 2cb2771
Showing 1 changed file with 131 additions and 51 deletions.
182 changes: 131 additions & 51 deletions ArduinoEnvironment/code/RP2040/CAN_Controller_Testing/CAN_Controller_Test.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,9 @@
#include <SPI.h>
#include <mcp2515.h>

bool asciiMode = false; // False for HEX as default output
struct can_frame canMsg;
MCP2515 mcp2515(10); // CS pin 10
MCP2515 mcp2515(9); // CS pin 9 for me, 10 for most

enum Mode {
MODE_NONE,
Expand All @@ -14,15 +15,17 @@ enum Mode {
};

Mode currentMode = MODE_NONE;
int messageFrequency = 1; // 1/second default

void setup() {
Serial.begin(115200);
while (!Serial); // Wait for serial port to connect.

while (!Serial)
; // Wait for serial port to connect.

mcp2515.reset();
mcp2515.setBitrate(CAN_500KBPS); // Set to default HS CAN bus, use 125 for MS
mcp2515.setNormalMode();
mcp2515.setBitrate(CAN_500KBPS, MCP_16MHZ); // Set to default HS CAN bus, use 125 for MS
mcp2515.setConfigMode();

Serial.println("Select mode:");
Serial.println("1: CAN Read All Traffic");
Serial.println("2: CAN Write");
Expand All @@ -36,25 +39,29 @@ void setup() {
case 1:
currentMode = MODE_READ_ALL;
Serial.println("CAN Read All Traffic selected.");
Serial.println("ID DLC DATA");
Serial.println("Press 'a' to toggle ASCII mode on/off");
mcp2515.setNormalMode();
break;
case 2:
currentMode = MODE_WRITE;
Serial.println("Enter CAN message to send (ID DLC DATA...):");
while (!Serial.available()) ; // Wait for user input
while (!Serial.available())
; // Wait for user input
prepareCanWrite();
Serial.println("CAN Write selected.");
mcp2515.setNormalMode();
break;
case 3:
currentMode = MODE_SPEEDTEST;
Serial.println("CAN Speedtest selected.");
mcp2515.setNormalMode();
break;
case 4:
currentMode = MODE_READ_FILTERED;
Serial.println("Enter Mask and Filter (Mask Filter):");
while (!Serial.available()) ; // Wait for user input
setupCanFilters();
mcp2515.setNormalMode();
Serial.println("CAN Read Filtered Traffic selected.");
Serial.println("Press 'a' to toggle ASCII mode on/off");
break;
default:
Serial.println("Invalid selection. Select 1, 2, 3, or 4.");
Expand All @@ -67,7 +74,15 @@ void setup() {
void loop() {
switch (currentMode) {
case MODE_READ_ALL:
canReadAll();
if (Serial.available()) {
char input = Serial.read();
if (input == 'a' || input == 'A') {
asciiMode = !asciiMode;
Serial.print("ASCII mode ");
Serial.println(asciiMode ? "ON" : "OFF");
}
}
canRead();
break;
case MODE_WRITE:
canWrite();
Expand All @@ -76,32 +91,54 @@ void loop() {
canSpeedtest();
break;
case MODE_READ_FILTERED:
canReadFiltered();
if (Serial.available()) {
char input = Serial.read();
if (input == 'a' || input == 'A') {
asciiMode = !asciiMode;
Serial.print("ASCII mode ");
Serial.println(asciiMode ? "ON" : "OFF");
}
}
canRead();
break;
default:
// No default case
break;
}
}

void canReadAll() {
bool isPrintable(uint8_t byte) {
return byte >= 32 && byte <= 126;
}

void canRead() {
if (mcp2515.readMessage(&canMsg) == MCP2515::ERROR_OK) {

Serial.print("ID: ");
Serial.print(canMsg.can_id, HEX);
Serial.print(" ");
Serial.print(" DLC: ");
Serial.print(canMsg.can_dlc, HEX);
Serial.print(" ");
Serial.print(" Data: ");

for (int i = 0; i < canMsg.can_dlc; i++) { // print the data
Serial.print(canMsg.data[i], HEX);
Serial.print(" ");
if (asciiMode) {
// Print as ASCII characters
if (isPrintable(canMsg.data[i])) {
Serial.print((char)canMsg.data[i]);
} else {
Serial.print('.');
}
} else {
Serial.print(canMsg.data[i], HEX);
Serial.print(" ");
}
}

Serial.println();
}
}

void setupCanFilters() {
char inputBuffer[10]; // Buffer for the input
char inputBuffer[10]; // Buffer for the input

// Clear the Serial buffer
while (Serial.available() > 0) {
Expand All @@ -110,9 +147,10 @@ void setupCanFilters() {

// Read mask in hex
Serial.println("Enter Mask in HEX (e.g., 7FF for all bits):");
while (!Serial.available()) ; // Wait for user input
while (!Serial.available())
; // Wait for user input
Serial.readBytesUntil('\n', inputBuffer, sizeof(inputBuffer) - 1);
inputBuffer[sizeof(inputBuffer) - 1] = 0; // Ensure null-termination
inputBuffer[sizeof(inputBuffer) - 1] = 0; // Ensure null-termination
uint32_t mask = strtol(inputBuffer, NULL, 16);

while (Serial.available() > 0) {
Expand All @@ -121,67 +159,109 @@ void setupCanFilters() {

// Read filter in hex
Serial.println("Enter Filter in HEX (e.g., 201 for specific ID):");
while (!Serial.available()) ;
while (!Serial.available())
;
Serial.readBytesUntil('\n', inputBuffer, sizeof(inputBuffer) - 1);
inputBuffer[sizeof(inputBuffer) - 1] = 0;
uint32_t filter = strtol(inputBuffer, NULL, 16);


Serial.print("Setting Mask: 0x");
Serial.println(mask, HEX);
Serial.print("Setting Filter: 0x");
Serial.println(filter, HEX);

mcp2515.setFilterMask(MCP2515::MASK0, false, mask);
mcp2515.setFilterMask(MCP2515::MASK0, false, mask); // You must setup all masks/filters
mcp2515.setFilterMask(MCP2515::MASK1, false, mask); // Even when you only need 1

mcp2515.setFilter(MCP2515::RXF0, false, filter);
mcp2515.setFilter(MCP2515::RXF1, false, filter); // Two filter buffer available with our setup
// Add additional filters if necessary
mcp2515.setFilter(MCP2515::RXF1, false, filter);
mcp2515.setFilter(MCP2515::RXF2, false, filter);
mcp2515.setFilter(MCP2515::RXF3, false, filter);
mcp2515.setFilter(MCP2515::RXF4, false, filter);
mcp2515.setFilter(MCP2515::RXF5, false, filter);
}


void canReadFiltered() {
if (mcp2515.readMessage(&canMsg) == MCP2515::ERROR_OK) {
Serial.print(canMsg.can_id, HEX); // print ID
Serial.print(" ");
Serial.print(canMsg.can_dlc, HEX); // print DLC
Serial.print(" ");

for (int i = 0; i < canMsg.can_dlc; i++) { // print the data
Serial.print(canMsg.data[i], HEX);
Serial.print(" ");
}

Serial.println();
}
}

void prepareCanWrite() {
char inputBuffer[10]; // Make sure this is large enough to hold the expected input plus a null terminator
char inputBuffer[20]; // Buffer size

// Read CAN ID in hex (expects input in the format "0x201" or "201")
// Function to clear the Serial buffer
auto clearSerialBuffer = []() {
while (Serial.available() > 0) {
Serial.read();
}
};

// Read CAN ID in hex
Serial.println("Enter CAN ID in HEX:");
clearSerialBuffer();
while (!Serial.available())
; // Wait for user input
memset(inputBuffer, 0, sizeof(inputBuffer)); // Clear input buffer
Serial.readBytesUntil('\n', inputBuffer, sizeof(inputBuffer) - 1);
canMsg.can_id = strtol(inputBuffer, NULL, 16);
Serial.print("CAN ID: 0x");
Serial.println(canMsg.can_id, HEX);

// Read CAN DLC in decimal
Serial.println("Enter CAN DLC:");
clearSerialBuffer();
while (!Serial.available())
; // Wait for user input
memset(inputBuffer, 0, sizeof(inputBuffer)); // Clear input buffer
Serial.readBytesUntil('\n', inputBuffer, sizeof(inputBuffer) - 1);
canMsg.can_dlc = strtol(inputBuffer, NULL, 10);
Serial.print("DLC: ");
Serial.println(canMsg.can_dlc);

// Read CAN DATA in hex
for (int i = 0; i < canMsg.can_dlc; i++) {
Serial.print("Enter DATA byte ");
Serial.print(i);
Serial.println(" in HEX:");
clearSerialBuffer();
while (!Serial.available())
; // Wait for user input
memset(inputBuffer, 0, sizeof(inputBuffer)); // Clear input buffer
Serial.readBytesUntil('\n', inputBuffer, sizeof(inputBuffer) - 1);
canMsg.data[i] = strtol(inputBuffer, NULL, 16);
Serial.print("Data byte ");
Serial.print(i);
Serial.print(": 0x");
Serial.println(canMsg.data[i], HEX);
}

Serial.println("Custom message prepared.");
}


void canWrite() {
mcp2515.sendMessage(&canMsg);
// If you have a second message to send, call sendMessage() again with canMsg2

Serial.println("Message sent");
delay(1000); // Send every second
Serial.println("Enter CAN Write Speed (messages/s):");
while (Serial.available() > 0) {
Serial.read();
}
while (!Serial.available())
; // Wait for user input

// Reading the entire frequency value as an integer
messageFrequency = Serial.parseInt();
Serial.print("Message frequency set to: ");
Serial.print(messageFrequency);
Serial.println(" messages/s");

// Calculating delay based on message frequency
int messageDelay = 1000 / messageFrequency;

// Sending messages at the specified frequency
while (true) { // TODO: Exit condition
mcp2515.sendMessage(&canMsg);
Serial.println("Message sent");
delay(messageDelay); // Delay based on frequency
}
}


void canSpeedtest() {
static int cntr = 0;
static unsigned long oldTime = 0;
Expand All @@ -194,6 +274,6 @@ void canSpeedtest() {
oldTime = millis();
Serial.print(cntr);
Serial.println(" msg/sec");
cntr = 0;
cntr = 0;
}
}

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