///////////////////////////////////////////////////////////////
// Demo3: CANopen I/O control for I-8000 MCU with I-8120     //
///////////////////////////////////////////////////////////////

#include "8000e.h"
#include "I87kcan.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>

unsigned long BaudRate[8]={10000UL,20000UL,50000UL,125000UL,250000UL,500000UL,800000UL,1000000UL};
void main(void)
{
  int ret;
  int slot,baud;
  char command,StrCount=0;
  char DataStr[100];
  
  //Initiate host 
  InitLib();
  
  Print("\r\n");
  Print("/******************************************************/\r\n");
  Print("/*            Demo3: CANopen I/O control              */\r\n");
  Print("/*Use I-8000 MCU to send 232 command to control I-8120*/\r\n");
  Print("/******************************************************/\r\n");
  
  do{ 
    Print("I-87120 slot(0~7):");
    Scanf("%d\r\n",&slot);
  }while((slot<0)||(slot>7));
  
  Print("0:10Kbps\r\n");
  Print("1:20Kbps\r\n");
  Print("2:50Kbps\r\n");
  Print("3:125Kbps\r\n");
  Print("4:250Kbps\r\n");
  Print("5:500Kbps\r\n");
  Print("6:800Kbps\r\n");
  Print("7:1000Kbps\r\n");
  
  do{ 
    Print("I-87123 baud(0~7):");
    Scanf("%d\r\n",&baud);
  }while((baud<0)||(baud>7));
  
  ret = InstallCom0(115200UL,8,0,1);     //  Install com port
  if(ret){
    ret = RestoreCom0();
    if(ret){
      Print("Com 0 restore error, code = %d\r\n",ret);
      return;
    }
    else{
      ret = InstallCom0(115200UL,8,0,1);
      if(ret){
        Print("Com 0 install error, code = %d\r\n",ret);
        return;
      }
    }
  }
  
  ChangeToSlot(slot);
  
  ret=I87KCANInit(BaudRate[baud],0,0,0x00000000L,0xffffffffL,0,0);	// Configure CAN port
	if (ret){
	   Print("Initialize I-87120 error, code = %d\r\n",ret);
	   ret = RestoreCom0();
     if(ret){
       Print("Com 0 restore error, code = %d\r\n",ret);
     }
     return;
	}
  	

	Print("\r\n");
  Print("/*********************/\r\n");
  Print("/*    I/O Command    */\r\n");
  Print("/*********************/\r\n");
  Print("a: Read  DI data\r\n");
  Print("b: Write DO data\r\n");
  Print("c: Read  AI data\r\n");
  Print("d: Write AO data\r\n");
  Print("q: Exit Program\r\n");
  Print("\r\na.DI , b.DO , c.AI , d.AO , q.Exit :\r\n");
  
  ClearCom0(); 
  while(1){
    command = Kbhit();
    if(command){
      Getch();
      switch(command){
        case 'a': //  DI  :  _DIiiicc
                // _DI: command , iii: cob id , cc: channel(start from 1)
          {
            int node,channel;
            
            Print("Node id(1~127):");
            Scanf("%d\r\n",&node);
            Print("Read channel:");
            Scanf("%d\r\n",&channel);
            
            sprintf(DataStr,"_DI%03X%02X\r",0x600+node,channel);
            ToCom0Str(DataStr);
          }
          break;
        case 'b': //  DO  :  _DOiiiccdd
                // _DO: command , iii: cob id , cc: channel(start from 1) , dd: output data
          {
            int node,channel,data;
            
            Print("Node id(1~127):");
            Scanf("%d\r\n",&node);
            Print("Output channel:");
            Scanf("%d\r\n",&channel);
            Print("Output data(1 byte hex):");
            Scanf("%x\r\n",&data);
            
            sprintf(DataStr,"_DO%03X%02X%02X\r",0x600+node,channel,data);
            ToCom0Str(DataStr);
          }
          break;
        case 'c': //  AI  :  _AIiiicc
                // _AI: command , iii: cob id , cc: channel(start from 1)
          {
            
            int node,channel;
            
            Print("Node id(1~127):");
            Scanf("%d\r\n",&node);
            Print("Read channel:");
            Scanf("%d\r\n",&channel);
            
            sprintf(DataStr,"_AI%03X%02X\r",0x600+node,channel);
            ToCom0Str(DataStr);
          }
          break;
        case 'd': //  AO  :  _AOiiiccdddd
                // _AO: command , iii: cob id , cc: channel(start from 1) , dddd: output data
          {
            int node,channel,data;
            
            Print("Node id(1~127):");
            Scanf("%d\r\n",&node);
            Print("Output channel:");
            Scanf("%d\r\n",&channel);
            Print("Output data(2 byte hex):");
            Scanf("%x\r\n",&data);
            
            sprintf(DataStr,"_AO%03X%02X%04X\r",0x600+node,channel,data);
            ToCom0Str(DataStr);
          }
          break;
        case 'q':
          {
            RestoreCom0();
            return;
          }
          //break; 
      }
    }
    
    if(IsCom(0)){ 
      DataStr[StrCount]=ReadCom(0);
      //if((DataStr[StrCount]==0x0)||(DataStr[StrCount]==0x0d)||(DataStr[StrCount]==0x0a)){
      if((DataStr[StrCount]==0x0d)){
        DataStr[StrCount+1] = 0; 
        StrCount=0;
        Print("%s",DataStr);
        Print("\r\na.DI , b.DO , c.AI , d.AO , q.Exit :\r\n");
      }
      else{
        StrCount++;
      }
    }
  }
}