/////////////////////////////////////////////////////////////////
//  I-87120 User design for DeviceNet I/O control library demo //
//  Demo devices: I-87120 + DeviceNet devices: Support Polling //
//  IO Connection, produced size: 2 byte, consumed size: 2 byte//
/////////////////////////////////////////////////////////////////
#include "..\..\c87s110.h"
#include <stdio.h>
#include <string.h>
#include <stdlib.h>

#define MasterMACID 0x0A
unsigned long tx,rx,irq;
                                          
void UserIrqFunc(char INTT)               
{
  //  If CAN bus interrupt has occur, the irq++ will be excuted
  if (INTT) irq++;
}

void UserInitFunc(void)
{
  //  The function will be excuted first after I-87120 is power on
  tx=0;
  rx=0;
  irq=0;
}

void UserDefCmdFunc(unsigned int CmdLength, char * UserCmd)
{
  // User define command, the UserCmd[0] must be '_' 
  unsigned char data[8];
  int Ret;
  
  if (CmdLength<2){
    ToCom1Str(">CmdErr\r");
    return;
  }
  switch (UserCmd[1]){
    case 'A': //Send Allocate Connection message
    {
      //_AIDT:  ID: device id, 0x00~0x3F,
      //        T: Connection Type, 1: Explicit, 2: Polling
      char TempBuf[10],*endptr;
      unsigned long DeviceMACID;
      unsigned char ConnType;
      
      //Group 2 Only Unconnected Explicit Request Messages
      memcpy(TempBuf,&UserCmd[2],2);
      TempBuf[2]=0;
      DeviceMACID = (unsigned long)((strtol(TempBuf,&endptr,16)<<3)|0x406);
      
      ConnType=(unsigned char)ascii_to_hex(UserCmd[4]);
      
      memset(data,0,8);

      data[0] = MasterMACID;
      data[1] = 0x4B;
      data[2] = 0x03;
      data[3] = 0x01;
      data[4] = ConnType;
      data[5] = MasterMACID;
      
      Ret=SendCANMsg(0,DeviceMACID,0,6,data);
      if (Ret) ToCom1Str(">SendFaile\r");
      else{ 
        tx++;
      }
    }
    break;
    
    case 'S': //Set Connection Expected_Packet_Rate
    {
      //_SIDTEEEE:  ID: device id, 0x00~0x3F,
      //            T: Connection Type, 1: Explicit, 2: Polling
      //            EEEE: Expected_Packet_Rate From 0x0000 ~ 0xFFFF
      
      char TempBuf[10],*endptr=NULL;
      unsigned long DeviceMACID;
      unsigned char ConnType;
      
      //Master's Explicit Request
      memcpy(TempBuf,&UserCmd[2],2);
      TempBuf[2]=0;
      DeviceMACID = (unsigned long)((strtol(TempBuf,&endptr,16)<<3)|0x404);
      
      ConnType=(unsigned char)ascii_to_hex(UserCmd[4]);
      
      memset(data,0,8);

      data[0] = MasterMACID;
      data[1] = 0x10;
      data[2] = 0x05;
      data[3] = ConnType;
      data[4] = 0x09;
      data[5] = (ascii_to_hex(UserCmd[5])<<4)+ascii_to_hex(UserCmd[6]);
      data[6] = (ascii_to_hex(UserCmd[7])<<4)+ascii_to_hex(UserCmd[8]);
      
      Ret=SendCANMsg(0,DeviceMACID,0,7,data);
      if (Ret) ToCom1Str(">SendFaile\r");
      else{ 
        tx++;
      }
    }
    break;
    
    case 'P': //Send Master's I/O Poll Command Message
    {
      //_PIDLData:  ID: device id, 0x00~0x3F,
      //            L: lengthe of data (value must be 0 to 8)
      //            Data: at most 8 bytes data.
      
      char TempBuf[10],*endptr=NULL;
      unsigned long DeviceMACID;
      unsigned char DataLen,i,j;
      
      //Master's I/O Poll Command Message
      memcpy(TempBuf,&UserCmd[2],2);
      TempBuf[2]=0;
      DeviceMACID = (unsigned long)((strtol(TempBuf,&endptr,16)<<3)|0x405);
      
      DataLen=(unsigned char)ascii_to_hex(UserCmd[4]);
      if (DataLen>8)
      { 
        ToCom1Str(">DataLen Parameter Error\r");
        return;
      }
      
      memset(data,0,8);
      for(i=0,j=0;i<DataLen;i++,j+=2)
      {
        data[i]=(ascii_to_hex(UserCmd[5+j])<<4)+ascii_to_hex(UserCmd[6+j]);
      }
      
      Ret=SendCANMsg(0,DeviceMACID,0,DataLen,data);
      if (Ret) ToCom1Str(">SendFaile\r");
      else{
        tx++;
      }
    }
    break;
    
    case 'C': //Close Allocate Connection message
    {
      //_CIDT:  ID: device id, 0x00~0x3F,
      //        T: Connection Type, 1: Explicit, 2: Polling
      char TempBuf[10],*endptr;
      unsigned long DeviceMACID;
      unsigned char ConnType;
      
      //Group 2 Only Unconnected Explicit Request Messages
      memcpy(TempBuf,&UserCmd[2],2);
      TempBuf[2]=0;
      DeviceMACID = (unsigned long)((strtol(TempBuf,&endptr,16)<<3)|0x406);
      
      ConnType=(unsigned char)ascii_to_hex(UserCmd[4]);
      
      memset(data,0,8);

      data[0] = MasterMACID;
      data[1] = 0x4C;
      data[2] = 0x03;
      data[3] = 0x01;
      data[4] = ConnType;
      //data[5] = MasterMACID;
      
      Ret=SendCANMsg(0,DeviceMACID,0,6,data);
      if (Ret) ToCom1Str(">SendFaile\r");
      else{ 
        tx++;
      }
    }
    break;
    
   case 'T': 
     switch(UserCmd[2]){
      case 's':// Total send message count
        {
         char strtemp[50];
         
         sprintf(strtemp,"Total send CAN message:%ld\r",tx);
         ToCom1Str(strtemp);
        }
        break;
      case 'r':// Total receive message count
        {
         char strtemp[50];
         
         sprintf(strtemp,"Total receive CAN message:%ld\r",rx);
         ToCom1Str(strtemp);
        }
        break;
     }
     break;
   default:
    ToCom1Str(">CmdNoSupport\r");
  }
}

void UserDefBinaryFunc(unsigned int CmdLength, char * UserCmd)
{
  // Process user-defined command for binary code, the UserCmd[0] must be '|' 
  if (CmdLength);
  switch (UserCmd[1]){
  }
}

void UserLoopFunc(void)
{
  // The function will be excuted in while loop after the I-87120 has be configured
  int Ret,i;
  unsigned char Mode,RTR,DataLen,Data[8];
  unsigned long ID;
  char strtemp[100],cattemp[20];
  
  
  Ret=GetCANMsg(&Mode,&ID,&RTR,&DataLen,Data);  // Loop for receive CAN message
  if(!Ret){
    rx++;
    
    if(RTR){ //  RTR
      if(Mode){  //  29 bits id
        sprintf(strtemp,"RTR: id:%08X , ",ID);
      }
      else{             //  11 bits id
        sprintf(strtemp,"RTR: id:%03X , ",ID);
      }
      sprintf(cattemp,"dlen:%d",DataLen);
      strcat(strtemp,cattemp);
      
      if(DataLen){
        sprintf(cattemp," , data: ");
        strcat(strtemp,cattemp);
        for(i=0;i<DataLen;i++){
          sprintf(cattemp,"%02X,",Data[i]);
          strcat(strtemp,cattemp);
        }
        strcat(strtemp,"\r\n");
      }
      else{
        strcat(strtemp,"\r\n");
      }
      ToCom1Str(strtemp);
    }
    else{ //  Not RTR
      if(Mode){  //  29 bits id
        sprintf(strtemp,"Msg: id:%08X , ",ID);
      }
      else{             //  11 bits id
        sprintf(strtemp,"Msg: id:%03X , ",ID);
      }
      sprintf(cattemp,"dlen:%d",DataLen);
      strcat(strtemp,cattemp);
      
      if(DataLen){
        sprintf(cattemp," , data: ");
        strcat(strtemp,cattemp);
        for(i=0;i<DataLen;i++){
          sprintf(cattemp,"%02X,",Data[i]);
          strcat(strtemp,cattemp);
        }
        strcat(strtemp,"\r\n");
      }
      else{
        strcat(strtemp,"\r\n");
      }
      ToCom1Str(strtemp);
    }
  }
}