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

/* P5_Automation_can-dev
*/
 
#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"



//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"
  

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


#include "_PCINT.h"
   
 int Slave_Ports_Status_C_ports_defined = 0;
  Slave_Ports_Status  Slave_Ports_Status_C;

void setup() {

 Serial.begin(115200);
 
 
   
 //  Slave_Ports_QUEUE Slave_Ports_QUEUE_C;
 
 #include "_Slave_Ports_LOCAL_LIST.h"
  /*AAA
  #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");
 
//todo PCINT service
#include "_PCINT_setup.h"



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


  if(CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK) {
 
    Serial.println("#303 MCP2515 Init Okay");
    
        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");
    
 
  } else { 
 
    Serial.println("#322 MCP2515 Init Failed");
 
  }
       
  //EOF CAN
  
 
 Serial.println("#298 _Slave_Ports_queue__list");
 
  

}

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

  //String LCDarray1 ;
  //String LCDarray2 ;


  unsigned long time;
  
 #include "_PCINT_loop.h"

void loop() {
 Serial.println("#120 :loop " );
 delay(1000);

  
  if( Slave_Ports_Status_C_ports_defined == 0) {
   Serial.println("#431 : Slave_Ports_Status_C_ports_defined = 0" );
   Slave_Ports_Status_C_ports_defined = 1;
        Slave_Ports_Status_C.add_port( 1, 0x102, 0x01, 0x00, 1, 0x01, 0x01, 0x01, 0x01, 0x00); // Slave_Ports_Status_C.I2C_driver_F(Adafruit_PWMServoDriver)
        Slave_Ports_Status_C.add_port( 2, 0x102, 0x01, 0x00, 1, 0x01, 0x01, 0x01, 0x01, 0x00); // Slave_Ports_Status_C.I2C_driver_F(Adafruit_PWMServoDriver)
    //    Slave_Ports_Status_C.add_port( 3, 0x102, 0x01, 0x00, 1, 0x01, 0x01, 0x01, 0x01, 0x00); // Slave_Ports_Status_C.I2C_driver_F(Adafruit_PWMServoDriver)
} else {
    Serial.println("#438 : Slave_Ports_Status_C_ports_defined =1" );
}


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