#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    */
    /*******************************************************/		
    ret=XC100Init(1,0,125000UL,0,0,0x00000000UL,0xffffffffUL);
    /* XCANInit function Parameter descriptions
       1            : for 7186EX(D) model number (7188XB(D) model number is 0)
       0            : for IntMode useless
       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;
		}
    }
    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();
}