///////////////////////////////////////////////////////////////
//       I-87120 firmware demo5 --  Use binary command       //
///////////////////////////////////////////////////////////////
#include "..\..\c87s110.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
                                      
void UserIrqFunc(char INTT)               
{
  //  If CPU is interrupted by the CAN controller, the function will be excuted
  if (INTT);  
}

void UserInitFunc(void)
{
  int ret;
  //  The function will be excuted first after I-87120 is power on
  ret = SetCANBaud(1000000UL, 0, 0);  // Set CAN Baud to 1M bps
  if(ret) ToCom1Str(">SetCANBaudFaile\r");
  ret = SetCANMask(0x00000000, 0xFFFFFFFF);  // Set CAN Mask
  if(ret) ToCom1Str(">SetCANMaskFaile\r");
}

void UserDefCmdFunc(unsigned int CmdLength, char * UserCmd)
{
  if (CmdLength);
  switch (UserCmd[1]){
  }
}

void UserDefBinaryFunc(unsigned int CmdLength, char * UserCmd)
{
  int Ret,i;
  unsigned int len;
  unsigned int id;
  unsigned char data[8];
  // Process user-defined command for binary code, the UserCmd[0] must be '|' 
  if (CmdLength<3){
    ToCom1Str(">CmdErr\r");
    return;
  }
  
  len = ((UserCmd[2]*256) + UserCmd[1]);
  if((len<2)||(len>10)){
    ToCom1Str(">CmdErr\r");
    return;
  }
  
  id = ((UserCmd[4]*256) + UserCmd[3]);
  memset(data,0,8);
  
  for(i=0;i<len-2;i++){
    data[i] = UserCmd[5+i];
  }
  
  Ret=SendCANMsg(0,id,0,len-2,data);
  if(Ret) ToCom1Str(">SendFaile\r");
}

void UserLoopFunc(void)   
{
  // The function will be excuted in while loop after the I-87120 has be configured
}