se/SE/stuff/P5_Automation_can-dev-res/_CAN/_CAN_func.h

void CAN_READ(
        Slave_Ports_Status_T* Slave_Ports_Status_A ,
                Slave_Ports_Status_T_ARDUINO_ATTR_ARRAY_T &Slave_Ports_Status_T_ARDUINO_ATTR_ARRAY_A ,
                 Slave_Ports_Status_T_ARDUINO_ARRAY_INDEX_TABLE_T*            Slave_Ports_Status_T_ARDUINO_ARRAY_INDEX_TABLE_A,
                 Slave_Ports_Status_T_ARDUINO_ARRAY_INDEX_T_TO_DELETE_T*      Slave_Ports_Status_T_ARDUINO_ARRAY_INDEX_T_TO_DELETE_A,
                 Slave_Ports_Status_T_ARDUINO_ARRAY_ASSOC_TABLE_S_Port_ID_T*  Slave_Ports_Status_T_ARDUINO_ARRAY_ASSOC_TABLE_S_Port_ID_A,
                
                DISPLAY_T*  DISPLAY_A ,  DISPLAY_T_ARDUINO_ATTR_ARRAY_T &DISPLAY_T_ARDUINO_ATTR_ARRAY_A
) {
          // If pin 2 is low, read receive buffer
            {
              CAN0.readMsgBuf(&CANrxId, &CANlen, CANrxBuf); // Read data: len = data length, buf = data byte(s)
              Serial.print("#5555CAN_READ read ID: ");
              Serial.print(CANrxId, HEX);
              Serial.print(" Data: [");Serial.print(CANlen); Serial.print("]"); 
            
            
                if(CANlen == CAN_MSG_DATA8_LEN) {
                
                    
                
                   //     DISPLAY__print_loop(DISPLAY_CURSOR_Y_CHARS_CAN_DEBUG, "CAN RECV DATA", 13, DISPLAY__print_loop_ACTION_ADD ) ;
                        _CAN_REMOTE_ID_T _CAN_REMOTE_ID = CANrxId ;
                                             
                         CAN_MSG8_BIT_1_T CAN_MSG8_BIT_1_A = CANrxBuf[0] ;//< 0x10
                         CAN_MSG8_BIT_2_T CAN_MSG8_BIT_2_A = CANrxBuf[1] ;
                         CAN_MSG8_BIT_3_T CAN_MSG8_BIT_3_A = CANrxBuf[2] ;
                         CAN_MSG8_BIT_4_T CAN_MSG8_BIT_4_A = CANrxBuf[3] ;
                         CAN_MSG8_BIT_5_T CAN_MSG8_BIT_5_A = CANrxBuf[4] ;
                         CAN_MSG8_BIT_6_T CAN_MSG8_BIT_6_A = CANrxBuf[5] ;
                         CAN_MSG8_BIT_7_T CAN_MSG8_BIT_7_A = CANrxBuf[6] ;
                         CAN_MSG8_BIT_8_T CAN_MSG8_BIT_8_A = CANrxBuf[7] ;
                         
                   
                  // Serial.print();
                   
                   Serial.print("1.REM::");Serial.print(CAN_MSG8_BIT_1_A, HEX);
                   Serial.print(", 2.SEND:");Serial.print(CAN_MSG8_BIT_2_A, HEX);
                   Serial.print(", PortID.3:");Serial.print(CAN_MSG8_BIT_3_A, BIN);
                   Serial.print(", PortTyp.4:");Serial.print(CAN_MSG8_BIT_4_A, BIN);
                   Serial.print(", ExpS.5:");Serial.print(CAN_MSG8_BIT_5_A, BIN);
                   Serial.print(", ExpT.6:");Serial.print(CAN_MSG8_BIT_6_A, HEX);
                   Serial.print(", BcSt.7:");Serial.print(CAN_MSG8_BIT_7_A, HEX);
                   Serial.print(", TaskT?.8:");Serial.print(CAN_MSG8_BIT_8_A, HEX);Serial.println(" ] ");
                   
                   
                    Serial.println("64[ Debug STD]")   ;                             
                                   for(int i = 0; i<CANlen; i++)           // Print each byte of the data
                                    {
                                     Serial.print("[");Serial.print(i);Serial.print("]");
                                      if(CANrxBuf[i] < 0x10)                // If data byte is less than 0x10, add a leading zero
                                      {
                                        Serial.print("0");
                                 
                                      }
                                      Serial.print(CANrxBuf[i], HEX);
                                      Serial.print(" ");
                         }
                   
                    
                    if(CAN_MSG8_BIT_2_A == _CAN_REMOTE_ID ) {
                    
                            if(CAN_MSG8_BIT_8_A == TASK_TYPE_T_Slave_Ports_broadcast____) {
                                Serial.println("[CAN_MSG8_BIT_8_A]==[T_BCAST]->[ADD][PORTS]")   ;      
                                        Slave_Ports_Status_add_port(
                                                                       Slave_Ports_Status_A ,
                                                                       Slave_Ports_Status_T_ARDUINO_ATTR_ARRAY_A,
                                                                           Slave_Ports_Status_T_ARDUINO_ARRAY_INDEX_TABLE_A,
                                                                           Slave_Ports_Status_T_ARDUINO_ARRAY_INDEX_T_TO_DELETE_A,
                                                                           Slave_Ports_Status_T_ARDUINO_ARRAY_ASSOC_TABLE_S_Port_ID_A,
                                                                       CAN_MSG8_BIT_3_A,  // int  Port_ID,
                                                                       CANrxId ,  //int  _Slave_ID,
                                                                       CAN_MSG8_BIT_4_A , //int  PortTypes,
                                                                       0 ,  //int  Address,
                                                                       0 , //int  LocalPort,
                                                                       CAN_MSG8_BIT_5_A , //Exp_state_BLINK, //int  Exp_state,
                                                                       CAN_MSG8_BIT_6_A, //Exp_state_ttl_TO_REFRESH, //int  Exp_state_ttl,
                                                                       CAN_MSG8_BIT_7_A, //Broadcast_state_TO_REFRESH, //int  Broadcast_state,
                                                                       0 , //int I2C_port,
                                                                       0 ,//int I2C_driver
                                                                       IS_Local_FALSE 
                                                                       );
                                } else if(CAN_MSG8_BIT_8_A == TASK_TYPE_T_request_set_new_Exp_state) { // if(CAN_MSG8_BIT_8_A == TASK_TYPE_T_Slave_Ports_broadcast____)
                                   /*CAN_MSG8_A_Slave_Ports_Protocol_CAN_request_set_new_Exp_state_T
                                       1 _Slave_Ports_Protocol_CAN_A._CAN_REMOTE_ID; // 0xFF;
                                       2  = _Slave_Ports_Protocol_CAN_A._CAN_SENDER_ID; // 0xFF;
                                       3 =_Slave_Ports_Protocol_CAN_A.Port_ID ; //0xFF;
                                       4 = _Slave_Ports_Protocol_CAN_A.PortTypes ;//0xFF;
                                       5 = _Slave_Ports_Protocol_CAN_A.Exp_state; // 0xFF;
                                       6   _Slave_Ports_Protocol_CAN_A.Exp_state_ttl ;// 0xFF;
                                       7=  _Slave_Ports_Protocol_CAN_A.Exp_state_level_A;// 0xFF;
                                        8 =  _Slave_Ports_Protocol_CAN_A._CAN_8; // 0xFF;
                                   */
                                   
                                   
                                      Serial.println("[CAN_MSG8_BIT_8_A]==[request_set_new_Exp_state]->[SET][PORTS]")   ;      
                                       TASK_PORT_ASSOC_T TASK_PORT_ASSOC_A={
                                         CAN_MSG8_BIT_3_A,
                                         CAN_MSG8_BIT_1_A,
                                         0
                                        };
                                       Slave_Ports_action_func(Slave_Ports_Status_QUEUE_A,  Slave_Ports_Status_QUEUE_T_ARDUINO_ATTR_ARRAY_A, Slave_Ports_Status_A , Slave_Ports_Status_T_ARDUINO_ATTR_ARRAY_A ,
                                         TASK_TYPE_T_request_set_new_Exp_state , TASK_PORT_ASSOC_A,  0, 0, ARDUINO_ARRAY_INDEX_NOT_SET ,  
                                         CAN_MSG8_BIT_5_A , CAN_MSG8_BIT_7_A);
                                    
                                
                                } else {
                                    Serial.println("81[CAN][RECV][UNKNOWN][CAN_MSG8_BIT_8_A][")   ;
                                    Serial.print(CAN_MSG8_BIT_8_A, HEX) ;
                                    Serial.print("] ");   
                                }
                      } else { //if(CAN_MSG8_BIT_2_A == _CAN_REMOTE_ID ) {
                                    Serial.println("81[CAN][RECV][ERROR][_CAN_REMOTE_ID<>CAN_MSG8_BIT_2_A][")   ;
                                    Serial.print(CAN_MSG8_BIT_2_A, HEX) ; Serial.print("]["); Serial.print(_CAN_REMOTE_ID, HEX) ;
                                    Serial.print("] ");
                      }      
                
              } else { //if(CANlen == CAN_MSG_DATA8_LEN) 
              
            
                        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");
                      
                           }
                           Serial.print(CANrxBuf[i], HEX);
                           Serial.print(" ");
                       
                            
                         }
                }
             
              Serial.println();
  
              
         //   else Serial.println(" [CAN] [NOT][digitalRead(CAN_INTpin)] ");
    
          }
    }