#include <stdlib.h>

#include "..\..\lib\7186e.h"

#include "..\..\lib\xc100.h"


/*If the UserCANInt() function is not used, please don't remove it.*/		  

void UserCANInt(char CANInt){  

  if (CANInt) ;   /*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                  */

    /********************************************************/

    L1Off();

    L2Off();

    L3Off();   

    /*******************************************************/

    /*      initialize and configure the CAN controller    */

    /*******************************************************/		

		CANAccFilterMode=0;//set dual filter
    
    ret=XC100Init(1,1,125000UL,0,0,0x91A291A2UL,0x00000000UL);

    /* XCANInit function Parameter descriptions

       1            : for 7186EX(D) model number (7188XB(D) model number is 0)

       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 dual filter setting the AccCode and AccMask,only the message, whose ID is 

       from 0x12344000 to 0x12345fff 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                       */

    /********************************************************/

    CAN_CreateBuffer(0,1000);   //Create RX Buffer

    CAN_InstallIrq();

    Print("Press any key to exit the program.\n\r");

    while(1){	

    	/********************************************************/

    	/*          Receive CAN messages from CAN bus           */

    	/********************************************************/

	    ret=GetCANMsg(&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();

}