#include <stdlib.h>
#include "..\lib\UPAC5000.h"
#include "..\lib\XWCAN.h"


/*If the UserCANInt() function is not used, please don't remove it.*/		  
void UserCANInt(int CANPort,char CANInt){  
   if(CANPort ==0x0)
  {
	  if (CANInt==0x01)   /*avoid complier warning*/
	 	{
	 	 
	 	}
  }
}

void main(void)
{
    int ret,i;
    unsigned char MsgMode,MsgRTR,MsgDataLen,MsgData[8];
    unsigned long MsgID,MsgUpperTimeStamp,MsgLowerTimeStamp,MsgCnt=0;

    InitLib();
    
    /********************************************************/
    /*                    Initial all LEDs                  */
    /********************************************************/
    CL1Off();
    CL2Off();
    CL3Off();   
    /*******************************************************/
    /*      initialize and configure the CAN controller    */
    /*******************************************************/		
    ret=XWCANInit(0,1,125000UL,0,0,0x91a2b3a8UL,0x00000018UL);
    /* XCANInit function Parameter descriptions
       0            : for CAN Port select
       1            : for Receive Interrupt Enable
       125000UL     : for CAN baud
       0            : for BT0 of user defined baud
       0            : for BT1 of user defined baud
       0x91a2b3a8UL : for AccCode of CAN message filter
       0x00000018UL : for AccMask of CAN message filter
       After setting the AccCode and AccMask,only the message, whose ID is 
       from 0x12345674 to 0x12345677 and RTR bit is 0, will be received.
    */
    switch (ret){  /*Check if configuration is OK*/
	    case CAN_ResetError:
    		Print("Reset Error!\n\r");
    		return;
    	case CAN_SetACRError:
    		Print("\n\rSet ACR Error!");
    		return;
    	case CAN_SetAMRError:
    		Print("\n\rSet AMR Error!");
    		return;
    	case CAN_SetBaudRateError:
    		Print("\n\rSet Baud Rate Error!");
    		return;
    	case CAN_BaudNotSupport:
    		Print("\n\rBaud Rate Not Support!");
	    	return;	
        case CAN_ConfigError:
	    	Print("\n\rConfiguration Failure!");
    		return;
    	default:
    		if (ret >0){
	    		Print("Default=%d\n\r",ret);
	    		return;
	      }
    }
    /********************************************************/
    /*                     Enable Irq                       */
    /********************************************************/
    ret=CAN_CreateBuffer(0,0,1000);   //Create RX Buffer 
    /*
    	0						:for CAN Port select
    	0						:for Create Rx buffer
    	1000				:Create buffer count
    */
    CAN_InstallIrq(0);
    /* CAN_Restore function Parameter descriptions
    	0						:for CAN Port select
    */
    Print("Press any key to exit the program.\n\r");
    while(1){	
    	
    	/********************************************************/
    	/*          Receive CAN messages from CAN bus           */
    	/********************************************************/
	    ret=GetCANMsg(0,&MsgMode,&MsgID,&MsgRTR,&MsgDataLen,MsgData,&MsgUpperTimeStamp,&MsgLowerTimeStamp);
	    if (!ret){
	      MsgCnt++;
		    Print("%lu(%lus-%luus):Mode=%d,ID=%lx,RTR=%d,Len=%d",MsgCnt,MsgUpperTimeStamp
		           ,MsgLowerTimeStamp,MsgMode,MsgID,MsgRTR,MsgDataLen);	
		    if (MsgDataLen && !MsgRTR){
			    Print(",Data=");
			    for (i=0;i<MsgDataLen;i++){
				    Print("%x,",MsgData[i]);
			    }
		    }
		    Print("\n\r");
	    }
	    else{
	    	switch(ret){
	    		case CAN_DataLengthError:
		    		Print("Reception Data Length Error!\n");
		    		break;
		    	case CAN_DataOverrun:
	    			Print("Software Reception Data Buffer Overrun!\n");
		    		break;
	    		case CAN_ReceiveError:
		    		Print("Receive data Error!\n");
		    		break;					
			    case CAN_ReceiveBufferEmpty: /*No message in receive buffer*/
		    		break;
		    }
	    }
	    if (Kbhit()){ /*if press any key, exit the program*/
	    	Print("Exit this program!\n");
	    	break;
	    }
    }
    CAN_Restore(0);
     /*CAN_Restore function Parameter descriptions
    	0						:for CAN Port select
    */
}