/*****************************************************************************
 *   cantest.c:  CAN test module file for NXP LPC23xx Family Microprocessors
 *
 *   Copyright(C) 2006, NXP Semiconductor
 *   All rights reserved.
 *
 *   History
 *   2006.09.13  ver 1.00    Prelimnary version, first Release
 *
******************************************************************************/
#include "LPC23xx.h"			/* LPC23xx definitions */
#include "type.h"
#include "irq.h"
#include "can.h"

CAN_MSG MsgBuf_TX1, MsgBuf_TX2; // TX and RX Buffers for CAN message
CAN_MSG MsgBuf_RX1, MsgBuf_RX2; // TX and RX Buffers for CAN message

volatile DWORD CAN1RxDone, CAN2RxDone;

/*****************************************************************************
** Function name:		main
**
** Descriptions:		main routine for CAN module test
**
** parameters:			None
** Returned value:		int
** 
*****************************************************************************/
int main( void )
{
  lcd_init();
  lcd_clear();
  lcd_print ("    CAN DEMO    ");
  set_cursor (0, 1);
  lcd_print (" www.po-star.com ");

	/* Please note, this PCLK is set in the target.h file. Since the example
	program is set to test USB device, there is only a limited number of
	options to set CCLK and PCLK when USB is used. The default setting is 
	CCLK 57.6MHz, PCLK is 1/2 CCLK 28.8MHz. The bit timing is based on the 
	setting of the PCLK, if different PCLK is used, please read can.h carefully 
	and set your CAN bit timing accordingly. */  
	CAN_Init( BITRATE100K28_8MHZ );
	
	/* This test program is connect CAN1 and CAN2 on the MCB2300 board,
	send one message from CAN1(TX) and verify received message on CAN2(RX)
	if it's a match, both CAN TX and RX are working. 
	
	For more details on acceptance filter program, see Philips
	appnote AN10438 and the zip file associated with this appnote. */

#if !ACCEPTANCE_FILTER_ENABLED
	// Initialize MsgBuf
	MsgBuf_TX1.Frame = 0x80080000; // 29-bit, no RTR, DLC is 8 bytes
	MsgBuf_TX1.MsgID = 0x00012345; // CAN ID
	MsgBuf_TX1.DataA = 0x3C3C3C3C;
	MsgBuf_TX1.DataB = 0xC3C3C3C3;

	MsgBuf_RX2.Frame = 0x0;
	MsgBuf_RX2.MsgID = 0x0;
	MsgBuf_RX2.DataA = 0x0;
	MsgBuf_RX2.DataB = 0x0;
	CAN_SetACCF( ACCF_BYPASS );

	/* Test bypass */
	while ( 1 )
	{
		// Transmit initial message on CAN 1
		while ( !(CAN1GSR & (1 << 3)) );
		if ( CAN1_SendMessage( &MsgBuf_TX1 ) == FALSE )
		{
			continue;
		}
 		if ( CAN2RxDone == TRUE )
		{
			CAN2RxDone = FALSE;
			if ( MsgBuf_RX2.Frame & (1 << 10) )	/* by pass mode */
			{
				MsgBuf_RX2.Frame &= ~(1 << 10 );
			}
			if ( ( MsgBuf_TX1.Frame != MsgBuf_RX2.Frame ) ||
				( MsgBuf_TX1.MsgID != MsgBuf_RX2.MsgID ) ||
				( MsgBuf_TX1.DataA != MsgBuf_RX2.DataA ) ||
				( MsgBuf_TX1.DataB != MsgBuf_RX2.DataB ) )
			{
				while ( 1 );
			}
			// Everything is correct, reset buffer
			MsgBuf_RX2.Frame = 0x0;
			MsgBuf_RX2.MsgID = 0x0;
			MsgBuf_RX2.DataA = 0x0;
			MsgBuf_RX2.DataB = 0x0;
		} // Message on CAN 2 received
	}
#else
	/* Test Acceptance Filter */
	/* Even though the filter RAM is set for all type of identifiers,
	the test module tests explicit standard identifier only */
	MsgBuf_TX1.Frame = 0x00080000; // 11-bit, no RTR, DLC is 8 bytes
	MsgBuf_TX1.MsgID = EXP_STD_ID; // Explicit Standard ID
	MsgBuf_TX1.DataA = 0x55AA55AA;
	MsgBuf_TX1.DataB = 0xAA55AA55;

	MsgBuf_RX2.Frame = 0x0;
	MsgBuf_RX2.MsgID = 0x0;
	MsgBuf_RX2.DataA = 0x0;
	MsgBuf_RX2.DataB = 0x0;
	CAN_SetACCF( ACCF_ON );

	while ( 1 )
	{
		// Transmit initial message on CAN 1
		while ( !(CAN1GSR & (1 << 3)) );
		if ( CAN1_SendMessage( &MsgBuf_TX1 ) == FALSE )
		{
			continue;
		}

		/* please note: FULLCAN identifier will NOT be received as it's not set 
		in the acceptance filter. */
 		if ( CAN2RxDone == TRUE )
		{
			CAN2RxDone = FALSE;
			/* The frame field is not checked, as ID index varies based on the
			entries set in the filter RAM. */
			if ( ( MsgBuf_TX1.MsgID != MsgBuf_RX2.MsgID ) ||
				( MsgBuf_TX1.DataA != MsgBuf_RX2.DataA ) ||
				( MsgBuf_TX1.DataB != MsgBuf_RX2.DataB ) )
			{
				while ( 1 );
			}
			// Everything is correct, reset buffer
			MsgBuf_RX2.Frame = 0x0;
			MsgBuf_RX2.MsgID = 0x0;
			MsgBuf_RX2.DataA = 0x0;
			MsgBuf_RX2.DataB = 0x0;
		} // Message on CAN 2 received
	}
#endif
	return ( 0 );
}

/******************************************************************************
**                            End Of File
******************************************************************************/