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/**
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/**
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 * CAN Test. This program sends a CAN message once every second. The ID of the
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 * CAN Test. This program is for testing purpose.
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 * Replaces CanTestPeriodic and CanTestEcho.
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 *
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 * CanTest sends messages periodicly, dumps incomming messages on uart
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 * and echoes on packages with ID== ECHO_RECEIVE_ID;
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 *
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 * This version uses drivers that polls the mcp2515. That means that if this program works fine,
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 * but bios+app doesnt. Something is wrong with the interruppt.
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 * message is increased each time for testing purposes.
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 * Probably the wire between AVR and MCP, so check it twice.
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 *
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 *
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 * @date    2006-11-21
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 * @date    2006-11-21
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 * @author  Jimmy Myhrman
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 * @author  Jimmy Myhrman, Erik Larsson (2007-05-07)
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 *  
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 *  
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 */
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 */
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Includes
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 * Includes
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/* lib files */
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/* lib files */
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#include <can.h>
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#include <can.h>
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#include <serial.h>
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#include <serial.h>
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#include <timebase.h>
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#include <timebase.h>
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#define SENDING_ID  0x1600000UL // FIXME vilka idn kan vara lämpliga?
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#define ECHO_RECEIVE_ID     0x1700000UL
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#define ECHO_SENDING_ID     0x17000FFUL
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Main Program
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 * Main Program
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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int main(void) {
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int main(void) {
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    Mcu_Init();
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    Mcu_Init();
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    Timebase_Init();
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    Timebase_Init();
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    Serial_Init();
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    Serial_Init();
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    sei();
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    sei();
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    printf("\n------------------------------------------------------------\n");
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    printf("\n------------------------------------------------------------\n");
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    printf(  "   CAN Test:\n");
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    printf(  "   CAN Test: Periodic Transmission\n");
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    printf(  "   Periodic Transmission on CAN\n");
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    printf(  "   CAN Dump\n");
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    printf(  "   CAN Echo\n");
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    printf(  "------------------------------------------------------------\n");
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    printf(  "------------------------------------------------------------\n");
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    printf("CanInit...");
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    printf("CanInit...");
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    if (Can_Init() != CAN_OK) {
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    if (Can_Init() != CAN_OK) {
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        printf("FAILED!\n");
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        printf("FAILED!\n");
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        printf("Check wires between AVR and MCP2515 and the MCP speed (xtal).");
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    }
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    }
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    else {
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    else {
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        printf("OK!\n");
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        printf("OK!\n");
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        printf("MCP2515 working fine\n");
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    }
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    }
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    uint32_t timeStamp = 0;
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    uint32_t timeStamp = 0;
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    Can_Message_t txMsg;
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    Can_Message_t txMsg;
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    Can_Message_t rxMsg;
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    Can_Message_t rxMsg;
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    //The databytes are just what happens to be in the memory. They are never set.
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    txMsg.RemoteFlag = 0;
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1;
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    txMsg.ExtendedFlag = 1;
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    txMsg.Id = 1600000;
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    txMsg.Id = SENDING_ID;
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    txMsg.DataLength = 2;
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    txMsg.DataLength = 2;
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    txMsg.Data.bytes[0] = 0x12;
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    txMsg.Data.bytes[1] = 0x34;
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    /* main loop */
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    /* main loop */
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    while (1) {
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    while (1) {
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        /* service the CAN routines */
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        /* service the CAN routines */
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        Can_Service();
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        Can_Service();
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        /* send CAN message and check for CAN errors once every second */
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        /* send CAN message and check for CAN errors once every second */
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        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
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        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
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            timeStamp = Timebase_CurrentTime();
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            timeStamp = Timebase_CurrentTime();
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            /* send txMsg */
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            /* send txMsg */
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            txMsg.Id++;
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            txMsg.Id = SENDING_ID;
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            Can_Send(&txMsg);
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            Can_Send(&txMsg);
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        }
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        }
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        /* check if any messages have been received */
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        /* check if any messages have been received */
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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            /* Dump message data on uart */
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            printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            printf("data={ ");
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            printf("data={ ");
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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                printf("%x ", rxMsg.Data.bytes[i]);
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                printf("%x ", rxMsg.Data.bytes[i]);
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            }
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            }
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            printf("}\n");
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            printf("}\n");
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            /* Echo function */
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            if(rxMsg.Id == ECHO_RECEIVE_ID){
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                printf("\"ping\" received\n");
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                txMsg.Id = ECHO_SENDING_ID;
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                /* Send reply */
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                Can_Send(&txMsg);
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                printf("reply sent\n");
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            }
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        }
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        }
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    }
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    }
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    return 0;
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    return 0;
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}
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}