/* ---------------------------------------------------------------------------
 * testcan.c                                            (c) 2008 Micro-key bv
 * ---------------------------------------------------------------------------
 * Micro-key bv
 * Industrieweg 28, 9804 TG Noordhorn
 * Postbus 92, 9800 AB Zuidhorn
 * The Netherlands
 * Tel: +31 594 503020
 * Fax: +31 594 505825
 * Email: support@microkey.nl  
 * Web: www.microkey.nl
 * ---------------------------------------------------------------------------
 * Description: 
 * ---------------------------------------------------------------------------
 * Version(s):  0.1, Nov 17, 2008, MMi
 *                   Creation.
 * ---------------------------------------------------------------------------
 */

/* ---------------------------------------------------------------------------
 * System include files
 * ---------------------------------------------------------------------------
 */
#include "lpc23xx.h"
#include "types.h"

#include "FreeRTOS.h"
#include "task.h"
/* ---------------------------------------------------------------------------
 * Application include files
 * ---------------------------------------------------------------------------
 */ 
#include "testcan.h"
#include "can.h"
#include "SerOut.h"
/* ---------------------------------------------------------------------------
 * Local constant and macro definitions
 * ---------------------------------------------------------------------------
 */
#define CAN_FILTER1         0x00000101
#define CAN_MSGLNG          0x00050000
#define CAN_DATAA           0x01234567
#define CAN_DATAB           0xFEDCBA98

/* ---------------------------------------------------------------------------
 * Global variable definitions
 * ---------------------------------------------------------------------------
 */

/* ---------------------------------------------------------------------------
 * Local variable definitions
 * ---------------------------------------------------------------------------
 */

/* ---------------------------------------------------------------------------
 * Local function definitions
 * ---------------------------------------------------------------------------
 */

BOOLEAN testCanStart (void)
{
    BOOLEAN canResult;
    
    canResult = canSelftest ();
    
    return (canResult);
}

BOOLEAN canSelftest (void)
{
    CAN_MSG SendMessage;
    CAN_MSG ReceiveMessage;
    
    /* Set CAN2 in SelfTest Mode - CAN2 must be in RESET mode for that      */
    CAN2MOD |= (1 << 0);                    /* Set Mode to Reset (Bit 0)    */
    CAN2MOD |= (1 << 2);                    /* Set bit "selftest"           */
    CAN2MOD &=~(1 << 0);                    /* Set Mode to normal           */
    
    vTaskDelay (500);
    
//    SendMessage.Dat1 = 0x00080102L; // 8 bytes, ID 0x102
//    SendMessage.DatA = 0x00000000L; // all zeros
//    SendMessage.DatB = 0x00000000L; // all zeros
    
    SendMessage.Dat1 = (CAN_FILTER1 | CAN_MSGLNG); /* Set Length and Filter */
    SendMessage.DatA = CAN_DATAA;           /* Define first 4 Bytes         */
    SendMessage.DatB = CAN_DATAB;           /* Define last 4 bytes          */
    
    CANPushMessage (&SendMessage);
    
    vTaskDelay (1000);
    
    CANPullMessage (&ReceiveMessage);
    
    if (SendMessage.Dat1 == ReceiveMessage.Dat1)
        {
        debugPrint("Dat1 is OK\n\r");
        if (SendMessage.DatA == ReceiveMessage.DatA)
            {
            debugPrint("DataA is OK\n\r");
            if (SendMessage.DatB == ReceiveMessage.DatB)
                {
                debugPrint("DataB is OK\n\r");
                }
            else
                {
                debugPrint("DataB is not OK\n\r");
                }
            }
        else
            {
            debugPrint("DataA is not OK\n\r");
            }
        }
    else
        {
        debugPrint("Dat1 is not OK\n\r;");
        }

    return (TRUE);
}