#include "..\..\..\MCU_Lib\8000.h"
#include "..\..\..\87CANLib\ver_103\I87KCAN.h"

typedef struct {
  unsigned char Mode;
  unsigned char RTR;
  unsigned char DataLen;
  unsigned char Data[8];
  unsigned long ID;
}PacketStruct;

void main(void)
{
  unsigned char CANRegStatus,OverFlowStatus,OldCANRegStatus=0,OldOverFlowStatus=0;
  int Ret,SlotNo,i;
  PacketStruct RxMsg;
  
  //Initiate host 
  InitLib();
  
  //Open COM 0
  InstallCom0(115200UL,8,0,1);
  
  //Select the slot where the I-87KCAN is plugged.
  Print("Input the slot (0~7) where the I-87KCAN is plugged.");
  Scanf("%d",&SlotNo);
  if (SlotNo<0 || SlotNo>7){
    Print("Slot number error, default to slot 0.\n\r");
    SlotNo=0;
  }
  Print("Baud is set to 125K\n\r");
  ChangeToSlot(SlotNo);
  
  //Initiate the I-87KCAN module
  I87KCANInit(125000UL,0,0,0x00000000UL,0xffffffffUL,0,0);
  Print("Start to receive CAN messages.(any key to exit...)\n\r");
  while(!Kbhit()){
    //Get CAN Message
    Ret=GetCANMsg(&RxMsg.Mode,&RxMsg.ID,&RxMsg.RTR,&RxMsg.DataLen,RxMsg.Data);
    if (Ret){
      if (Ret!=CAN87K_FIFO_EMPTY){
      	Print("Receive Message Error, Error Code=%d.\n\r",Ret);
      	break;
      }	
    }
    else{
      if (RxMsg.RTR){
      	Print("%s,ID=%lx,RTR=%d,Dlen=%d\n\r",
             RxMsg.Mode?"2.0B":"2.0A",RxMsg.ID,RxMsg.RTR,RxMsg.DataLen);
      }
      else{
        Print("%s,ID=%lx,RTR=%d,Dlen=%d",
             RxMsg.Mode?"2.0B":"2.0A",RxMsg.ID,RxMsg.RTR,RxMsg.DataLen);
        if (RxMsg.DataLen>0){
          Print(",Data=");
          for (i=0;i<RxMsg.DataLen;i++){
            Print("%02X",RxMsg.Data[i]);
            if (i!=RxMsg.DataLen-1) Print(",");
          }
        }
        Print("\n\r");
      }
    }
    
    //Check I-87KCAN State
    Ret=GetStatus(&CANRegStatus,&OverFlowStatus);
    if (Ret){
      if (Ret!=CAN87K_FIFO_EMPTY){
      	Print("Receive Message Error, Error Code=%d.\n\r",Ret);
      	break;
      }	
    }
    if (CANRegStatus!=OldCANRegStatus){
    	Print("CANRegStatus=%02x.\n\r",CANRegStatus);
    	OldCANRegStatus=CANRegStatus;
    }
    if (OverFlowStatus!=OldOverFlowStatus){
    	Print("OverFlowStatus=%02x.\n\r",OverFlowStatus);
    	OldOverFlowStatus=OverFlowStatus;
    }
    if (Kbhit()) break;
  }
  
  //Recover the COM 0 setting
  RestoreCom0();
  Print("Exit Program.\n\r");	
}