#include <stdlib.h>
#include "..\lib\UPAC5000.h"
#include "..\lib\XWCAN.h"
#include <conio.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;
    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(0,2,125000UL,0,0,0x00000000UL,0xffffffffUL);
    /* XCANInit function Parameter descriptions
       0            : for CAN port selection
       2            : for transmission interrupt
       125000UL     : for CAN baud
       0            : for BT0 of user defined baud
       0            : for BT1 of user defined baud
       0x00000000UL : for AccCode of CAN message filter
       0xffffffffUL : for AccMask of CAN message filter
    */
    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                       */
    /********************************************************/
    CAN_CreateBuffer(0,1,1000);   //Create TX Buffer
    CAN_InstallIrq(0);
    Print("Press any key to exit the program.\n\r");
    MsgData[0]=0x12;
	  MsgData[1]=0x23;
	  MsgData[2]=0x34;
	  MsgData[3]=0x45;
	  MsgData[4]=0x56;
	  MsgData[5]=0x67;
	  MsgData[6]=0x78;
	  MsgData[7]=0x89;
    while(1){
    	/********************************************************/
    	/*            Send CAN messages to CAN bus              */
    	/********************************************************/ 	
    	 
	    ret=SendCANMsg(0,1,0x12345678UL,0,8,MsgData);
 
	    /*	SendCANMsg function parameter descirptions:
	    0						 : for CAN Port selection
      1            : for Send message with 29-bit ID
      0x12345678UL : for CAN message ID
      0            : for CAN message RTR
      8            : for CAN message data length
      MsgData      : for CAN message output data
	    */
	    if (ret){ 
	    	switch(ret){
	    		case CAN_DataLengthError:
	    			Print("Transmission Data Length Error!\n");
		    		break;
		    	case CAN_TransmitIncomplete:
		    		Print("Transmission is incomplete!\n");
		    		break;
			    case CAN_TransmitBufferLocked:
			    	Print("CAN controller transmit Buffer is locked!\n");
			    	break;	
	    	}
	    	break;
	    }
	    DelayMs(500);
	    ret=SendCANMsg(0,0,0x12345678UL,0,8,MsgData);
	    /*	SendCANMsg function parameter descirptions:
	    0						 : for CAN Port selection
      0            : for Send message with 11-bit ID
      0x12345678UL : for CAN message ID (only 0x278 ID value will be send out)
      0            : for CAN message RTR
      8            : for CAN message data length
      MsgData      : for CAN message output data
	    */
	    if (ret){ 
	    	switch(ret){
	    		case CAN_DataLengthError:
	    			Print("Transmission Data Length Error!\n");
		    		break;
		    	case CAN_TransmitIncomplete:
		    		Print("Transmission is incomplete!\n");
		    		break;
			    case CAN_TransmitBufferLocked:
			    	Print("CAN controller transmit Buffer is locked!\n");
			    	break;	
	    	}
	    	break;
	    }
	    DelayMs(500);
	    if (Kbhit()){ /*if press any key, exit the program*/
	    	Print("Exit this program!\n");
	    	break;
    	}
    }
    CAN_Restore(0);
     /* CAN_Restore function parameter descirptions:
	    
	    0            : for CAN Port selection
	    
	  */
}