se/SE/stuff/P5_Automation_can-dev/P5_Automation_can-dev.ino

/* P5_Automation_can-dev
 * 2020-06 testing communications CAN for integrate further with Procesy5
 * A.Binder
 * Uses: 
 * LCD1602 - big 2x16 character display
 * TFT_ILI9163C 128x128 lcd display
 * MCP_2515 - can port controller
 * 
 * controls
 * Slave ports via:     
 * I2C      
 * ]PCA9685 - 16port 12bit PWM driver - can controll 16 eg. LEDs which can be 0....12V dimmed=]                
 * or 16 servos               
 * - can have addressed many of PCA9685 on I2C bus - so can controll over 64 ports      
 * to be added another devices tested
 *  TODO structure of port is in _Slave_Ports.h  
 *     _Slave_Port _Slave_Ports[] = {
        {"CAN", 0x102, 0x80, 0x00, 0, 0x00, 0x00 },
        {"CAN", 0x102, 0x80, 0x00, 1, 0xFF, 0x20 } //testowy ttl
        };
        - to be optimalized for inegration
        - to allow of subscribe ports
        - to allow of concurent routing
        - to allow new port detectioj
        - to allow creating ports dependencies e.g. IF 
            - port has value
            - port AND port 
            THEN
            - set port
           - probably should be avilable creations of virtual ports which would describe 
            - state of port AND port etc... 
 *  TO BE INTEGRATED WITH p5 
 *    - interface and WFST
 *  TO BE INGEGRATED WITH MARLIN 3D PRINTERS - machine and automation purpose
 *    - controll remote ports via g-code 
 *    - allows interrupts
 */


#define  _ControllerID   0x101 
#define  _Slave1_ID   0x103 

#define Active_ControllerID _ControllerID 
//#define Active_ControllerID _Slave1_ID 


 //REMOTE PORTS DEFINITIONS
  #include "_Slave_Ports.h"
  // #define _CAN_P_0x102_PWM0x00_0 { _Slave1_ID , "PWM", 0x00, 0 } 
   //#define _CAN_P_0x102_PWMServoDriver0x40
   
    // #define   Adafruit_PWMServoDriver pwm1 = Adafruit_PWMServoDriver();
  //    Adafruit_PWMServoDriver pwm1 = Adafruit_PWMServoDriver(0x40);


 #if Active_ControllerID == _ControllerID 
    String lcdPattern = "s" ;
    #define HAS_LCD1602 
   //  #define HAS_TFT_ILI9163C 
 #endif
 #if Active_ControllerID == _Slave1_ID 
    String lcdPattern = "." ;
    #define HAS_TFT_ILI9163C 
   // #define HAS_LCD1602 
 #endif
// #define __CSpin 53 // 10 //  chip select
 
 
 
 int LCDtim = 250;  //the value of delay time
  
//BEGIN 1602
#if defined(HAS_LCD1602)
  #include <LiquidCrystal.h>
  // initialize the library with the numbers of the interface pins
  //LiquidCrystal lcd(4, 6, 10, 11, 12, 13);
  //LiquidCrystal lcd(4, 6, 53, 51, 50, 52  );
  const int LCD1602rs=12, LCD1602en=11, LCD1602db4=5, LCD1602db5=4, LCD1602db6=3, LCD1602db7=2; // lcd keypad shield pins
  LiquidCrystal lcd(LCD1602rs, LCD1602en, LCD1602db4, LCD1602db5, LCD1602db6, LCD1602db7);
  int lcdPos = 0 ;
 
#endif
// include the library code
/**********************************************************/
//EOF BEGIN 1602

#if defined(HAS_TFT_ILI9163C)
  #include <SPI.h>
  #include <Adafruit_GFX.h>
  #include <TFT_ILI9163C.h>

  //#define TFT_ILI9163C_CSpin __CSpin // 53 // 10 //  chip select
  #define TFT_ILI9163C_CSpin 7 // __CSpin // 53 // 10 //  chip select

  #define TFT_ILI9163C_DCpin 8 // A0   data/command pin.   sometimes called DC, RS, ...

  #define TFT_ILI9163C__RSTpin 9 //reset pin.   you must connect.   (or pullup)
  //#define __SDA 51 //11 //+ bidirectional data pin.   Connect to MOSI
  //#define __SCK 52 //13 //+ clock.   sometimes called SCLK, SCL, ...

  
  // Color definitions
  #define BLACK   0x0000
  #define BLUE    0x001F
  #define RED     0xF800
  #define GREEN   0x07E0
  #define CYAN    0x07FF
  #define MAGENTA 0xF81F
  #define YELLOW  0xFFE0  
  #define WHITE   0xFFFF

  TFT_ILI9163C display = TFT_ILI9163C(TFT_ILI9163C_CSpin, TFT_ILI9163C_DCpin, TFT_ILI9163C__RSTpin);
  float p = 3.1415926;
#endif


//BEGIN CAN


#include <mcp_can.h>
#include <SPI.h>

long unsigned int CANrxId;
unsigned char CANlen = 0;
unsigned char CANrxBuf[8];
const int CAN_CSpin = 53 , CAN_INTpin = 10 ;
MCP_CAN CAN0(CAN_CSpin);                          // Set CS to pin 10
//EOF CAN



void setup() {


 String LCDarray1="CAN_1602_LCD           ";  //the string to print onthe LCD
 String LCDarray2="Testing id   ";  //the string to print onthe LCD
 LCDarray2.concat(String(Active_ControllerID, HEX) ) ;
 

  
  // put your setup code here, to run once:
  #if defined(HAS_LCD1602)
    lcd.begin(16, 2);  // set up the LCD's number of columns and rows:
    lcd.print("TESTING id:");
    lcd.print(Active_ControllerID);
    lcd.setCursor(0,1);
    lcd.print(LCDarray2);
  #endif

  #if defined(HAS_TFT_ILI9163C)
     display.begin();
     display.clearScreen();
     display.setCursor(0,0);
     display.print(LCDarray1);
     display.setCursor(0,10);
     display.print(LCDarray2);
     delay(LCDtim); 
  #endif

  //BEGIN CAN
   Serial.begin(115200);
  //if(CAN0.begin(MCP_STDEXT, CAN_500KBPS, MCP_16MHZ) == CAN_OK) {
  if(CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK) {
    
   Serial.print("MCP2515 Init Okay!!\r\n");
    #if defined(HAS_LCD1602)
      delay(LCDtim);  
      lcd.setCursor(0,1); 
      lcd.print("MCP2515 Init Okay!!\r\n");
      delay(LCDtim); 
   //  lcd.clear();  
    #endif
    #if defined(HAS_TFT_ILI9163C)
      delay(LCDtim);  
      display.setCursor(0,20); 
      display.print("MCP2515 Init Okay!!\r\n");
      delay(LCDtim); 
    #endif
  } else { 
    Serial.print("MCP2515 Init Failed!!\r\n");
      #if defined(HAS_LCD1602)
        delay(LCDtim);  
        lcd.setCursor(0,1); 
        lcd.print("MCP2515 Init Failed!!\r\n");
        delay(LCDtim); 
         lcd.setCursor(0,0); 
         lcd.print("CAN_CSpin: ");
         lcd.print(CAN_CSpin);
         lcd.print("CAN_INTpin: ");
         lcd.print(CAN_INTpin);
         delay(LCDtim); 
       
      #endif
      #if defined(HAS_TFT_ILI9163C)
        delay(LCDtim);  
        display.setCursor(0,20); 
        display.print("MCP2515 Init Failed!! Check: \r\n");
        delay(LCDtim); 
         display.setCursor(0,50); 
         display.print("CAN_CSpin: ");
         display.print(CAN_CSpin);
         display.print("CAN_INTpin: ");
         display.print(CAN_INTpin);
         delay(LCDtim); 
      #endif
  }


       #if Active_ControllerID == _Slave1_ID 
        LCDarray1 = "Slave Module ";
        LCDarray2 = "enabling filters";
        //CAN0.init_Mask(0,0,0x010F0000);                // Init first mask...
        //CAN0.init_Filt(0,0,0x01000000);                // Init first filter...
        //CAN0.init_Filt(1,0,0x01010000);                // Init second filter...
        
        //CAN0.init_Mask(1,0,0x010F0000);                // Init second mask... 
        //CAN0.init_Filt(2,0,0x01030000);                // Init third filter...
        //CAN0.init_Filt(3,0,0x01040000);                // Init fouth filter...
        //CAN0.init_Filt(4,0,0x01060000);                // Init fifth filter...
        //CAN0.init_Filt(5,0,0x01070000);                // Init sixth filter...
        
        //CAN0.init_Mask(0, 0, 0x01FF);                         
        //CAN0.init_Filt(0, 0, 0x103); 
  
        //CAN.init_Mask(1, 0, 0x04FF);   
        //CAN.init_Filt(1, 0, 0x4C0); 
       #elif Active_ControllerID == _ControllerID
          LCDarray1 = "Master Module ";
          LCDarray2 = "enabling remotes";
       #endif
       
        
        Serial.println("");
         #if defined(HAS_LCD1602)
          delay(LCDtim);  
          lcd.setCursor(0,0); 
          lcd.print(LCDarray1);
          lcd.setCursor(0,1); 
          lcd.print(LCDarray2);
          delay(LCDtim * 10); 
         #endif
         #if defined(HAS_TFT_ILI9163C)
          delay(LCDtim);  
          display.setCursor(0,30); 
          display.print(LCDarray1); display.print(" ");
          display.print(LCDarray2);

          delay(LCDtim); 
         #endif
        CAN0.setMode(MCP_NORMAL);                // Change to normal mode to allow messages to be transmitted
        pinMode(CAN_INTpin, INPUT);                       // Setting pin 2 for /INT input

  //EOF CAN
   #if defined(HAS_LCD1602) 
      lcd.setCursor(0,1); 
      lcd.print("loop...");
      lcdPos = 7;
    #endif
  
}

    #if Active_ControllerID == _ControllerID
      byte data[8] = {0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07};
    #endif

  String LCDarray1 ;
  String LCDarray2 ;
void loop() {
  // put your main code here, to run repeatedly:
  //BEGIN CAN
   #if Active_ControllerID == _Slave1_ID
        if(!digitalRead(CAN_INTpin))                    // If pin 2 is low, read receive buffer
          {
            CAN0.readMsgBuf(&CANrxId, &CANlen, CANrxBuf); // Read data: len = data length, buf = data byte(s)
            Serial.print("ID: ");
            Serial.print(CANrxId, HEX);
            Serial.print(" Data: ");
             #if defined(HAS_LCD1602)
              lcd.setCursor(0,0); 
              lcd.print("ID: ");
              lcd.print(CANrxId, HEX);
              lcd.setCursor(0,1); 
              lcd.print(" Data: ");
             #endif
             #if defined(HAS_TFT_ILI9163C)
              display.setCursor(0,40); 
              display.print("ID: ");
              display.print(CANrxId, HEX);
              display.setCursor(0,50); 
              display.print(" Data: ");
             #endif
            for(int i = 0; i<CANlen; i++)           // Print each byte of the data
            {
              if(CANrxBuf[i] < 0x10)                // If data byte is less than 0x10, add a leading zero
              {
                Serial.print("0");
                 #if defined(HAS_LCD1602)
                    lcd.print("0");
                 #endif
                 #if defined(HAS_TFT_ILI9163C)
                    display.print("0");
                 #endif
              }
              Serial.print(CANrxBuf[i], HEX);
              Serial.print(" ");
               #if defined(HAS_LCD1602)
                  lcd.print(CANrxBuf[i], HEX);
                  lcd.print(" ");
               #endif
               #if defined(HAS_TFT_ILI9163C)
                  display.print(CANrxBuf[i], HEX);
                  display.print(" ");
               #endif
            }
            Serial.println();
          }
        //EOF CAN
          #if defined(HAS_LCD1602)
            delay(LCDtim);  
            //lcd.setCursor(0,1); 
            lcd.print(lcdPattern);
            //lcd.print(lcdPos % 10);
            if(lcdPos == 16) { 
              //lcd.print("N");
              lcd.setCursor(0,1); 
              lcdPos = 0;
              if(lcdPattern==".") lcdPattern = "-" ;
              else lcdPattern = "." ;
            }
            lcdPos ++;
          #endif
          #if defined(HAS_TFT_ILI9163C)
            delay(LCDtim);  
            display.setCursor(0,60); 
            display.print("loop....");
          #endif
          
    #elif Active_ControllerID == _ControllerID
         #include "_ControllerID_loop1.h"
         
    #endif



    
}