/***********************************************************************//**
 * @file		can_test_two_kit.c
 * @purpose		This example used to CAN operation in two board
 * @version		2.0
 * @date		21. May. 2010
 * @author		NXP MCU SW Application Team
 *---------------------------------------------------------------------
 * Software that is described herein is for illustrative purposes only
 * which provides customers with programming information regarding the
 * products. This software is supplied "AS IS" without any warranties.
 * NXP Semiconductors assumes no responsibility or liability for the
 * use of the software, conveys no license or title under any patent,
 * copyright, or mask work right to the product. NXP Semiconductors
 * reserves the right to make changes in the software without
 * notification. NXP Semiconductors also make no representation or
 * warranty that such application will be suitable for the specified
 * use without further testing or modification.
 **********************************************************************/
#include "lpc17xx_can.h"
#include "lpc17xx_libcfg.h"
#include "lpc17xx_pinsel.h"
#include "debug_frmwrk.h"

/* Example group ----------------------------------------------------------- */
/** @defgroup CAN_test_two_kit	CAN_test_two_kit
 * @ingroup CAN_Examples
 * @{
 */
/************************** PRIVATE MACROS *************************/
#define CAN_TRANSMIT				1
#define CAN_RECEIVE					!CAN_TRANSMIT
#define TX_BUFFER_SIZE				4
#define RX_BUFFER_SIZE				2

/************************** PRIVATE VARIABLES *************************/
uint8_t menu[]=
	"********************************************************************************\n\r"
	"Hello NXP Semiconductors \n\r"
	"CAN demo \n\r"
	"\t - MCU: LPC17xx \n\r"
	"\t - Core: ARM CORTEX-M3 \n\r"
	"\t - Communicate via: UART0 - 115200 bps \n\r"
	"Use 2 CAN peripherals on 2 boards to transfer data \n\r"
	"********************************************************************************\n\r";

/** CAN variable definition **/
CAN_MSG_Type TXMsg, RXMsg; // messages for test Bypass mode
CAN_MSG_Type AFTxMsg[TX_BUFFER_SIZE], AFRxMsg[RX_BUFFER_SIZE]; //messages for test Acceptance Filter mode
uint32_t CANRxCount = 0, CANTxCount = 0;
uint32_t CANErrCount = 0;

/************************** PRIVATE FUNCTIONS *************************/
void CAN_IRQHandler(void);

void CAN_InitMessage(void);
Bool CAN_VerifyMessage(CAN_MSG_Type Msg1, CAN_MSG_Type Msg2);
CAN_ERROR CAN_SetupAFTable(void);
void CAN_InitAFMessage(void);
void PrintMessage(CAN_MSG_Type* msg);


/*----------------- INTERRUPT SERVICE ROUTINES --------------------------*/
/*********************************************************************//**
 * @brief		CAN_IRQ Handler, control receive message operation
 * param[in]	none
 * @return 		none
 **********************************************************************/
void CAN_IRQHandler()
{
	uint8_t IntStatus;
	/* get interrupt status
	 * Note that: Interrupt register CANICR will be reset after read.
	 * So function "CAN_IntGetStatus" should be call only one time
	 */
	IntStatus = CAN_IntGetStatus(LPC_CAN1);
	//check receive interrupt
	if((IntStatus>>0)&0x01)
	{
		CAN_ReceiveMsg(LPC_CAN1, &AFRxMsg[CANRxCount]);
		PrintMessage(&AFRxMsg[CANRxCount]);_DBG_("");
		CANRxCount++;
	}
}

/*-------------------------PRIVATE FUNCTIONS----------------------------*/
/*********************************************************************//**
 * @brief		Print Message via COM1
 * param[in]	msg: point to CAN_MSG_Type object that will be printed
 * @return 		none
 **********************************************************************/
void PrintMessage(CAN_MSG_Type* CAN_Msg)
{
	uint32_t data;
	_DBG("Message ID:     ");
	_DBH32(CAN_Msg->id);_DBG_("");
	_DBG("Message length: ");
	_DBH32(CAN_Msg->len);_DBG_(" BYTES");
	_DBG("Message type:   ");
	if(CAN_Msg->type==DATA_FRAME)
	{
		_DBG_("DATA FRAME ");
	}
	else
		_DBG_("REMOTE FRAME ");
	_DBG("Message format: ");
	if(CAN_Msg->format==STD_ID_FORMAT)
	{
		_DBG_("STANDARD ID FRAME FORMAT");
	}
	else
		_DBG_("EXTENDED ID FRAME FORMAT");
	_DBG("Message dataA:  ");
	data = (CAN_Msg->dataA[0])|(CAN_Msg->dataA[1]<<8)|(CAN_Msg->dataA[2]<<16)|(CAN_Msg->dataA[3]<<24);
	_DBH32(data);_DBG_("");
	data = (CAN_Msg->dataB[0])|(CAN_Msg->dataB[1]<<8)|(CAN_Msg->dataB[2]<<16)|(CAN_Msg->dataB[3]<<24);
	_DBG("Message dataB:  ");
	_DBH32(data);_DBG_("");
	_DBG_("");
}

/*********************************************************************//**
 * @brief		Setup Acceptance Filter Table
 * @param[in]	none
 * @return 		none
 * Note: 		not use Group Standard Frame, just use for Explicit
 * 				Standard and Extended Frame
 **********************************************************************/
CAN_ERROR CAN_SetupAFTable(void) {
	uint32_t i = 0;
	uint8_t result;
	/* Set up Explicit Standard Frame Format Identifier Section
	 * In this simple test, it has 16 entries ID
	 */
	for (i = 0; i < 16; i++) {
		result = CAN_LoadExplicitEntry(LPC_CAN1, i + 1, STD_ID_FORMAT);
	}
	/* Set up Explicit Extended Frame Format Identifier Section
	 * In this simple test, it has 16 entries ID
	 */
	for (i = 0; i < 16; i++) {
		result = CAN_LoadExplicitEntry(LPC_CAN1, i << 11, EXT_ID_FORMAT);
	}
	return result;
}

/*********************************************************************//**
 * @brief		Initialize transmit and receive message for testing AF
 * 				operation
 * @param[in]	none
 * @return 		none
 **********************************************************************/
void CAN_InitAFMessage(void) {
	/* 1st Message with 11-bit ID which exit in AF Look-up Table */
	AFTxMsg[0].id = 0x08;
	AFTxMsg[0].len = 0x08;
	AFTxMsg[0].type = DATA_FRAME;
	AFTxMsg[0].format = STD_ID_FORMAT;
	AFTxMsg[0].dataA[0] = AFTxMsg[0].dataA[1] = AFTxMsg[0].dataA[2]= AFTxMsg[0].dataA[3]= 0x78;
	AFTxMsg[0].dataB[0] = AFTxMsg[0].dataB[1] = AFTxMsg[0].dataB[2]= AFTxMsg[0].dataB[3]= 0x21;

	/* 2nd Message with 11-bit ID which not exit in AF Look-up Table */
	AFTxMsg[1].id = 0xA0;
	AFTxMsg[1].len = 0x08;
	AFTxMsg[1].type = DATA_FRAME;
	AFTxMsg[1].format = STD_ID_FORMAT;
	AFTxMsg[1].dataA[0] = AFTxMsg[1].dataA[1] = AFTxMsg[1].dataA[2]= AFTxMsg[1].dataA[3]= 0x23;
	AFTxMsg[1].dataB[0] = AFTxMsg[1].dataB[1] = AFTxMsg[1].dataB[2]= AFTxMsg[1].dataB[3]= 0x45;

	/* 3th Message with 29-bit ID which exit in AF Look-up Table */
	AFTxMsg[2].id = (0x08 << 11);
	AFTxMsg[2].len = 0x08;
	AFTxMsg[2].type = DATA_FRAME;
	AFTxMsg[2].format = EXT_ID_FORMAT;
	AFTxMsg[2].dataA[0] = AFTxMsg[2].dataA[1] = AFTxMsg[2].dataA[2]= AFTxMsg[2].dataA[3]= 0x15;
	AFTxMsg[2].dataB[0] = AFTxMsg[2].dataB[1] = AFTxMsg[2].dataB[2]= AFTxMsg[2].dataB[3]= 0x36;

	/* 4th Message with 29-bit ID which not exit in AF Look-up Table */
	AFTxMsg[3].id = (0xA0 << 11);
	AFTxMsg[3].len = 0x08;
	AFTxMsg[3].type = DATA_FRAME;
	AFTxMsg[3].format = EXT_ID_FORMAT;
	AFTxMsg[3].dataA[0] = AFTxMsg[3].dataA[1] = AFTxMsg[3].dataA[2]= AFTxMsg[3].dataA[3]= 0x78;
	AFTxMsg[3].dataB[0] = AFTxMsg[3].dataB[1] = AFTxMsg[3].dataB[2]= AFTxMsg[3].dataB[3]= 0x21;

	AFRxMsg[0].id = AFRxMsg[1].id = 0x00;
	AFRxMsg[0].len = AFRxMsg[1].len = 0x00;
	AFRxMsg[0].type = AFRxMsg[1].type = 0x00;
	AFRxMsg[0].format = AFRxMsg[1].format = 0x00;
	AFRxMsg[0].dataA[0] = AFRxMsg[1].dataA[0] = 0x00;
	AFRxMsg[0].dataA[1] = AFRxMsg[1].dataA[1] = 0x00;
	AFRxMsg[0].dataA[2] = AFRxMsg[1].dataA[2] = 0x00;
	AFRxMsg[0].dataA[3] = AFRxMsg[1].dataA[3] = 0x00;
	AFRxMsg[0].dataB[0] = AFRxMsg[1].dataB[0] = 0x00;
	AFRxMsg[0].dataB[1] = AFRxMsg[1].dataB[1] = 0x00;
	AFRxMsg[0].dataB[2] = AFRxMsg[1].dataB[2] = 0x00;
	AFRxMsg[0].dataB[3] = AFRxMsg[1].dataB[3] = 0x00;
}
/*********************************************************************//**
 * @brief		print menu
 * @param[in]	none
 * @return 		none
 **********************************************************************/
void print_menu(void)
{
	_DBG_(menu);
}

/*-------------------------MAIN FUNCTION------------------------------*/
/*********************************************************************//**
 * @brief		c_entry: Main CAN program body
 * @param[in]	none
 * @return 		int
 **********************************************************************/
int c_entry(void) { /* Main Program */
	uint32_t result,i;
	PINSEL_CFG_Type PinCfg;

	/* Initialize debug via UART0
	 * – 115200bps
	 * – 8 data bit
	 * – No parity
	 * – 1 stop bit
	 * – No flow control
	 */
	debug_frmwrk_init();
	print_menu();

	/* Pin configuration
	 * CAN1: select P0.0 as RD1. P0.1 as TD1
	 */
	PinCfg.Funcnum = 1;
	PinCfg.OpenDrain = 0;
	PinCfg.Pinmode = 0;
	PinCfg.Pinnum = 0;
	PinCfg.Portnum = 0;
	PINSEL_ConfigPin(&PinCfg);
	PinCfg.Pinnum = 1;
	PINSEL_ConfigPin(&PinCfg);

	//Initialize CAN1
	CAN_Init(LPC_CAN1, 125000);
#if CAN_RECEIVE
	//Enable Interrupt
	CAN_IRQCmd(LPC_CAN1, CANINT_RIE, ENABLE);

	//Enable CAN Interrupt
	NVIC_EnableIRQ(CAN_IRQn);
	CAN_SetAFMode(LPC_CANAF, CAN_Normal);

	/* Test Acceptance Filter with a simple AF Look-up Table. It just has two sections:
	 * 		- Explicit Standard Frame Format Identifier Section
	 * 		- Explicit Extended Frame Format Identifier Section
	 * We use 4 Message:
	 * 		- 1 Message with 11-bit ID which exit in AF Look-up Table
	 *  	- 1 Message with 11-bit ID which not exit in AF Look-up Table
	 *  	- 1 Message with 29-bit ID which exit in AF Look-up Table
	 *  	- 1 Message with 29-bit ID which not exit in AF Look-up Table
	 *  to check Acceptance filter operation of CAN
	 */
	_DBG_("Test Acceptance Filter function...");
	CAN_SetAFMode(LPC_CANAF, CAN_Normal);
	result = CAN_SetupAFTable(); /* setup AF Look-up Table */
	if (result != CAN_OK) {
		_DBG_("Setup AF: ERROR...");
		while(1);
	}
	else _DBG_("Setup AF: SUCCESSFUL...");_DBG_("");
	_DBG_("Recieving message...");
#else
	CAN_InitAFMessage(); /* initialize Transmit Message */
	for (i = 0; i < TX_BUFFER_SIZE; i++)
	{
		CAN_SendMsg(LPC_CAN1, &AFTxMsg[i]);
		PrintMessage(&AFTxMsg[i]);_DBG_("");
		for(result=0;result<10000;result++);
		CANTxCount++;
	}
	_DBG_("Sending finished !!!");
#endif
	while (1);
}

/* With ARM and GHS toolsets, the entry point is main() - this will
 allow the linker to generate wrapper code to setup stacks, allocate
 heap area, and initialize and copy code and data segments. For GNU
 toolsets, the entry point is through __start() in the crt0_gnu.asm
 file, and that startup code will setup stacks and data */
int main(void) {
	return c_entry();
}

#ifdef  DEBUG
/*******************************************************************************
 * @brief		Reports the name of the source file and the source line number
 * 				where the CHECK_PARAM error has occurred.
 * @param[in]	file Pointer to the source file name
 * @param[in]    line assert_param error line source number
 * @return		None
 *******************************************************************************/
void check_failed(uint8_t *file, uint32_t line) {
	/* User can add his own implementation to report the file name and line number,
	 ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

	/* Infinite loop */
	while (1)
		;
}
#endif

/*
 * @}
 */
