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=]                
 * todo 74HC595 - Serial to Parallel Shifting-Out - from 8 ports to many if connected in paraller
 *       based on https://www.arduino.cc/en/tutorial/ShiftOut 
 * 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 Rottary Swich { GND, +, SW, DT, CLK } - to provide LCD menu access

 *  TODO structure of port is in _Slave_Ports.h  
 *     _Slave_Port _Slave_Ports[] = {
        {"CAN", 0x102, 0x80, 0x00, 0, 0x00, 0x00 },
        {"CAN",  - Base port origin protocol
          0x102,  - Base port origin protocol address
           0x80, -  int PortTypes;  0xFF  =  1111 1111
                                    0x01  =  0000 0001  = PWM port
                                    {
                                      bit 1 - PWM port
                                      bit 2 - not allocated
                                      bit 3 - not allocated
                                      bit 4 - not allocated
                                      bit 2 - not allocated
                                      bit 5 - not allocated
                                      bit 6 - not allocated
                                      bit 7 - not allocated
                                      bit 8 - not allocated
                                    },
            0x00, int Address -  local address on e.g. I2C bus - 0x40 etc                     
            0x00, - int LocalPort - local port number when used e.g. I2C extension
             0x01 - Exp_state -     0xFF  =  1111 1111
                                    0x00  =  0000 0000  = OFF = 0V
                                    0x01  =  0000 0001  = ON = PWM max
                                              {
                                                bit 1 - OFF = 0V
                                                bit 2 - ON = PWM max
                                                bit 3 - not allocated
                                                bit 4 - not allocated
                                                bit 2 - not allocated
                                                bit 5 - not allocated
                                                bit 6 - not allocated
                                                bit 7 - not allocated
                                                bit 8 - not allocated
                                              }, 
               0x6d - testowy ttl - 10 sekund do przedawnienia stanu portu w tablicy i koniecznosci odswiezenia tablicy
               } 
        };
        - 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
 *   TO ALLOW OF NEXT PACKETS TYPES WITH DIFFERENT MEANINGS
 *    - dimming
 *    logic
 */

#include "Queue.h"
 
 Queue<int> _Slave_Ports_queue = Queue<int>(10);
 
 
 
#define  _ControllerID   0x101 
#define  _Slave1_ID   0x103 

#define Active_ControllerID _ControllerID 
//#define Active_ControllerID _Slave1_ID 
 
#include "Slave_Ports_Status.h"
#include "Slave_Ports_QUEUE.h"  
    
#include "_Slave_Ports_queue_task_type_LIST.h"
#include "_Slave_Ports_Protocol.h"




 #if Active_ControllerID == _ControllerID 
    String lcdPattern = "s" ;
   // #define HAS_LCD1602 
   //  #define HAS_TFT_ILI9163C 
   #define HAS_ROTTARY_SW
 #endif
 #if Active_ControllerID == _Slave1_ID 
    String lcdPattern = "." ;
    #define HAS_TFT_ILI9163C 
   // #define HAS_LCD1602 
 #endif

//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 ;
  
  #include "LCD1602.h"
#endif


#if defined(HAS_TFT_ILI9163C)

  #include <SPI.h>
  #include <Adafruit_GFX.h>
  #include <TFT_ILI9163C.h>
  #include "TFT_ILI9163C.h"

#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





 //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);


// #define __CSpin 53 // 10 //  chip select
 
 
 
 int LCDtim = 250;  //the value of delay time







  

#if defined(HAS_ROTTARY_SW)
 #include "_ROTTARY_SW.h"
#endif
// include the library code
/**********************************************************/
//EOF BEGIN 1602


#include "_PCINT.h"
   



void setup() {

 Serial.begin(115200);
 
   Slave_Ports_Status  Slave_Ports_Status_C;
   Slave_Ports_QUEUE Slave_Ports_QUEUE_C;
 
 #include "_Slave_Ports_LOCAL_LIST.h"
  #if defined(HAS_LCD1602)
    lcd.begin(16, 2);
  #endif
 //Slave_Ports_Status_T _add[] = { 1, Active_ControllerID, 0x01, 0x00, 1, 0x01, 0x01, 0x01 };
 

     Serial.println("#200 adding ports");
     
Slave_Ports_Status_C.add_port(
             1, // int  Port_ID,
            Active_ControllerID,  //  int  _Slave_ID,
                0x01, //  int  PortTypes,
                     0x00, //  int  Address,
                      1, // int  LocalPort,
                       0x01, //   int  Exp_state,
                       0x01, // int  Exp_state_ttl,
                       0x01, //  int  Broadcast_state,
                       0x01, // int I2C_port,
                      I2C_driver_NOT_USED_ ); //  int I2C_driver

Slave_Ports_Status_C.add_port( 2, Active_ControllerID, 0x01, 0x00, 1, 0x01, 0x01, 0x01, 0x01, I2C_driver_NOT_USED_); // Slave_Ports_Status_C.I2C_driver_F(Adafruit_PWMServoDriver)

Slave_Ports_Status_C.add_port( 3, Active_ControllerID, 0x01, 0x00, 1, 0x01, 0x01, 0x01, 0x01, I2C_driver_Adafruit_PWMServoDriver ); // Slave_Ports_Status_C.I2C_driver_F(Adafruit_PWMServoDriver)

Slave_Ports_Status_C.add_port( 4, _Slave1_ID, 0x01, 0x00, 1, 0x01, 0x01, 0x01, 0x01, I2C_driver_Adafruit_PWMServoDriver ); // Slave_Ports_Status_C.I2C_driver_F(Adafruit_PWMServoDriver)






 //Slave_Ports_Status_C.list_ports();

//Slave_Ports_Status_C.add_empty();
//Queue<int> _Slave_Ports_queue = Queue<int>(10);
//  LiquidCrystal lcd(LCD1602rs, LCD1602en, LCD1602db4, LCD1602db5, LCD1602db6, LCD1602db7);


 //Slave_Ports_Status_T
//struct Slave_Ports_Status_S _add;






// _LCD_print_queue.push(1);
// _LCD_print_queue.push(2);
// _LCD_print_queue.push(3);

//String character = "Geas";
//char b = abc.charAt(0); 
//int b_ascii_value = b;

 // LCD_print_background_add( _LCD_print_buffors,            0,           0,           0,              "W",              5000,              6000);
 // LCD_print_background_add( _LCD_print_buffors,            1,           0,           0,              "H",              5000,              6000);
 // LCD_print_background_add( _LCD_print_buffors,            2,           0,           0,              "W",              5000,              6000);
 // LCD_print_background_add( _LCD_print_buffors,            3,           0,           0,              "K",              5000,              6000);
 Serial.println("#221");

 
//todo PCINT service
#include "_PCINT_setup.h"



#if defined(HAS_ROTTARY_SW)
 #include "_ROTTARY_SW_setup.h"
#endif
 Serial.println("#231");
 


 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) ) ;
 
delay(1000);
  
  // put your setup code here, to run once:
  #if defined(HAS_LCD1602)
  
     LCD_print(LCDarray1, LCDarray2, LCDtim/5);
  #endif

  #if defined(HAS_TFT_ILI9163C)

  
  TFT_ILI9163C display = TFT_ILI9163C(TFT_ILI9163C_CSpin, TFT_ILI9163C_DCpin, TFT_ILI9163C__RSTpin);
  float p = 3.1415926;
     display.begin();
     display.clearScreen();
     display.setCursor(0,0);
     display.print(LCDarray1);
     display.setCursor(0,10);
     display.print(LCDarray2);
     delay(LCDtim); 
  #endif

  //BEGIN CAN
 
  //if(CAN0.begin(MCP_STDEXT, CAN_500KBPS, MCP_16MHZ) == CAN_OK) {
  if(CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK) {
     //LCDarray1="MCP2515 Init Okay";
     //LCDarray2="500KBPS 16MHZ";
    Serial.println("#303 MCP2515 Init Okay");
    /*
    #if defined(HAS_LCD1602)
      LCD_print(LCDarray1, LCDarray2, LCDtim/5);
    #endif
    #if defined(HAS_TFT_ILI9163C)
      delay(LCDtim);  
      display.setCursor(0,20); 
      display.print("MCP2515 Init Okay!!\r\n");
      delay(LCDtim); 
    #endif
    */
  } else { 
     /* LCDarray1 = "MCP2515 Init Failed";
     LCDarray2 = "CAN_CSpin: "; 
     LCDarray2.concat(CAN_CSpin);  
     LCDarray2.concat("CAN_INTpin: ");
     LCDarray2.concat(CAN_INTpin);    
     */
    Serial.println("#322 MCP2515 Init Failed");
      /*
      #if defined(HAS_LCD1602)
          LCD_print(LCDarray1, LCDarray2, LCDtim / 2 ) ;
      #endif
      #if defined(HAS_TFT_ILI9163C)
        delay(LCDtim);  
        display.setCursor(0,20); 
        display.print(LCDarray1);
        delay(LCDtim); 
         display.setCursor(0,50); 
         display.print(LCDarray2);
         delay(LCDtim); 
      #endif
      */
  }

        /*AAA
       #if Active_ControllerID == _Slave1_ID 
        #include "_SlaveID_setup.h"
       #elif Active_ControllerID == _ControllerID
          LCDarray1 = "Master Module       ";
          LCDarray2 = "enabling remotes        ";
       #endif
        Serial.println("");
         #if defined(HAS_LCD1602)
          LCD_print(LCDarray1, LCDarray2, LCDtim / 5 ) ;
          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
       Serial.println("#362 set MCP_NORMAL");
  //EOF CAN
  
    /*AA
    #if defined(HAS_LCD1602) 
      LCDarray1 = "#323 loop.... ";
      //LCDarray2 = "....";
     LCD_print1(LCDarray1, LCDtim/10);
     
    #endif
    */
    
//_Slave_Ports_queue.push(_LCD_print_queue.peek() + 1);
 Serial.println("#298 _Slave_Ports_queue__list");
 //AA _Slave_Ports_queue__INIT(_Slave_Ports_queue_tasks_LIST);
//AA _Slave_Ports_queue__list(_Slave_Ports_queue_tasks_LIST);
//AA  int _Slave_Ports_queue_peek =  _Slave_Ports_queue.peek() ;
//  int _Slave_Ports_queue_push = _Slave_Ports_queue.push(_Slave_Ports_queue.peek() + 1) ; 
  //int _Slave_Ports_queue_peek_new = _Slave_Ports_queue.peek() ; _Slave_Ports_queue__add(  *_Slave_Ports_queue_tasks_LIST, 0x01 ,0x00 ,100, 5000 ) ;  // _Slave_Ports_queue_peek, _Slave_Ports_queue.push(_Slave_Ports_queue.peek() + 1), _Slave_Ports_queue.peek());
//void _Slave_Ports_queue__add( _Slave_Ports_queue_tasksT* _Slave_Ports_queue_tasks_LIST,int _Slave_Ports_queue_task_type,int _Slave_Port_link,long time_seq_id, long time_min_run //, 
//A_Slave_Ports_queue__add(     _Slave_Ports_queue_tasks_LIST,  int(0x04) ,0x00 ,100, 5000 ) ;  //        "_Slave_Ports_broadcast", //4
int Slave_Ports_QUEUE_C_queue_id_current_broadcast = Slave_Ports_QUEUE_C.queue__add( TASK_TYPE_T_Slave_Ports_broadcast____,100, 5000 ) ;  //        "_Slave_Ports_broadcast", //4
//_Slave_Ports_queue__add(  _Slave_Ports_queue_tasks_LIST, 0x05 ,0x00 ,100, 5000 ) ;  //"_Slave_Ports_set_I2C" //5  - to set ports associated on PW
int Slave_Ports_QUEUE_C_queue_id_current_set_I2C = Slave_Ports_QUEUE_C.queue__add( TASK_TYPE_T_Slave_Ports_set_I2C______,100, 5000 ) ;  //        "_Slave_Ports_broadcast", //4

delay(10000);

 //  _Slave_Ports_queue_peek =  _Slave_Ports_queue.peek() ; 
   //_Slave_Ports_queue_push =  _Slave_Ports_queue.push(_Slave_Ports_queue.peek() + 1) ;  
   //_Slave_Ports_queue_peek_new = _Slave_Ports_queue.peek() ; 
//_Slave_Ports_queue__add(  _Slave_Ports_queue_tasks_LIST, 0x02 ,0x00 ,100, 5000, _Slave_Ports_queue_peek, _Slave_Ports_queue.push(_Slave_Ports_queue.peek() + 1), _Slave_Ports_queue.peek());
//   _Slave_Ports_queue_peek =  _Slave_Ports_queue.peek() ; 
   //_Slave_Ports_queue_push =  _Slave_Ports_queue.push(_Slave_Ports_queue.peek() + 1) ; 
  // _Slave_Ports_queue_peek_new = _Slave_Ports_queue.peek() ; 
//_Slave_Ports_queue__add(  _Slave_Ports_queue_tasks_LIST, 0x03 ,0x00 ,100, 5000, _Slave_Ports_queue_peek, 
//_Slave_Ports_queue.push(_Slave_Ports_queue.peek() + 1),
//_Slave_Ports_queue.peek());

 Serial.println("#301 _Slave_Ports_queue__list");
_Slave_Ports_queue__list(_Slave_Ports_queue_tasks_LIST);
Serial.print("#304 _Slave_Ports_queue.count(), "); Serial.println(_Slave_Ports_queue.count());
  
   
 //  _Slave_Ports_queue__add(  _Slave_Ports_queue_tasks_LIST, 0x03 ,0x00 ,100, 5000 ) ;  
 //Serial.println("#323 _Slave_Ports_queue__list"); _Slave_Ports_queue__list(_Slave_Ports_queue_tasks_LIST);
// Serial.print("#324 _Slave_Ports_queue.count(), "); Serial.println(_Slave_Ports_queue.count());

}

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

  //String LCDarray1 ;
  //String LCDarray2 ;


  unsigned long time;
  


void loop() {
 
  #include "_PCINT_loop.h"



  time = millis();
  Serial.print("Time: " );
  Serial.println(time);
  // put your main code here, to run repeatedly:
  //BEGIN CAN
   
   #if Active_ControllerID == _Slave1_ID
      #include "_SlaveID_loop1.h"
    #elif Active_ControllerID == _ControllerID
         #include "_ControllerID_loop1.h"
         
    #endif
  
  
  _Slave_Ports_queue__list(_Slave_Ports_queue_tasks_LIST) ;
  int _Slave_Ports_queue_count = _Slave_Ports_queue.count();
  int _Slave_Ports_queue_front = _Slave_Ports_queue.front();
  int _Slave_Ports_queue_back =  _Slave_Ports_queue.back();
  int _Slave_Ports_queue_peek = _Slave_Ports_queue.peek();
  int _Slave_Ports_queue_pop = _Slave_Ports_queue.pop();
 _Slave_Ports_queue__POP( _Slave_Ports_queue_tasks_LIST, 
 _Slave_Ports_queue_count, 
 _Slave_Ports_queue_pop, 
 _Slave_Ports_queue_front, 
 _Slave_Ports_queue_back,
 _Slave_Ports_queue_peek,
 LCDtim, _Slave_Ports);

 delay(5000);
  //_LCD_print_buffors_list(_LCD_print_buffors) ;
  //_LCD_print_screens_list(_LCD_print_screens);
}