/**************************************************************************************************************/
/**
<summary>

The CAN_Interrupt_Basic program demonstrates how to perform an interrupt when a single channel receives
a can message. The purpose of this program is to demonstrate the method calls in the naibrd library for performing
the interrupt. More information on this process can be found in the naibrd SSK Quick Guide(Interrupts) file.

</summary>
*/
/**************************************************************************************************************/

/************************/
/* Include Declarations */
/************************/

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>

/*Common Module Specific Sample Program include files*/
#include "nai_can_int.h"
#include "nai_can_cfg.h"

/* Common Sample Program include files */
#include "include/naiapp_interrupt.h"
#include "include/naiapp_interrupt_ether.h"
#include "include/naiapp_boardaccess_menu.h"
#include "include/naiapp_boardaccess_query.h"
#include "include/naiapp_boardaccess_access.h"
#include "include/naiapp_boardaccess_display.h"
#include "include/naiapp_boardaccess_utils.h"

/* naibrd include files */
#include "nai.h"
#include "naibrd.h"

/* Module Specific NAI Board Library files */
#include "functions/naibrd_can.h"

/********************/
/* Application Name */
/********************/

static const int8_t *CONFIG_FILE = (int8_t *)"default_CAN_Interrupt_Basic.txt";

/********************************/
/* Internal Function Prototypes */
/********************************/
static bool_t Run_CAN_Interrupt_Basic();

/**************************************************************************************************************/
/*****                                     Main Routine                                                   *****/
/**************************************************************************************************************/
/**************************************************************************************************************/
/**
<summary>

The main routine assists in gaining access to the board.

The following routines from the nai_sys_cfg.c file are
called to assist with accessing and configuring the board.

 - ConfigDevice
 - DisplayDeviceCfg
 - GetBoardSNModCfg
 - CheckModule

</summary>
*/
/*****************************************************************************/
#if defined (__VXWORKS__)
int32_t CAN_Interrupt_Basic(void)
#else
int32_t main(void)
#endif
{
   bool_t stop = FALSE;
   int32_t cardIndex;
   int32_t moduleCnt;
   int32_t module;
   int8_t inputBuffer[80];
   int32_t inputResponseCnt;

   initializeCANConfigurations(0, 0, 0, 0, 0, 0, NAI_J1939_MAX_DATA_LEN, 1, NAI_CAN_500K_BAUD);
   initializeInterruptConfigurations(FALSE, FALSE, FALSE, 0, 0, 0, 0);

   if (naiapp_RunBoardMenu(CONFIG_FILE) == TRUE)
   {
      while (stop != TRUE)
      {
         /* Query the user for the card index */
         stop = naiapp_query_CardIndex(naiapp_GetBoardCnt(), 0, &cardIndex);
         inputCANConfig.cardIndex = cardIndex;
         if (stop != TRUE)
         {
            check_status(naibrd_GetModuleCount(cardIndex, &moduleCnt));

            /* Query the user for the module number */
            stop = naiapp_query_ModuleNumber(moduleCnt, 1, &module);
            inputCANConfig.module = module;
            if (stop != TRUE)
            {
               inputCANConfig.modid = naibrd_GetModuleID(cardIndex, module);
               if ((inputCANConfig.modid != 0))
               {
                  Run_CAN_Interrupt_Basic();
               }
            }
         }
         printf("\nType Q to quit or Enter key to restart application:\n");
         stop = naiapp_query_ForQuitResponse(sizeof(inputBuffer), NAI_QUIT_CHAR, inputBuffer, &inputResponseCnt);
      }
   }

   printf("\nType the Enter key to exit the program: ");
   naiapp_query_ForQuitResponse(sizeof(inputBuffer), NAI_QUIT_CHAR, inputBuffer, &inputResponseCnt);
   naiapp_access_CloseAllOpenCards();

   return 0;
}

/**************************************************************************************************************/
/**
<summary>

This function is broken into the following major steps. These steps correspond with the steps provided
in the naibrd SSK Quick Guide(Interrupts) file.

2. Bus Interrupt Handling - Install ISR

   API CALLS - naibrd_InstallISR

3. Enable Module Interrupts- Configures module to interrupt when channel receives CAN message.

   API CALLS - naibrd_CAN_SetInterruptEdgeLevel, naibrd_CAN_SetIntVector, naibrd_CAN_SetInterruptSteering, naibrd_CAN_SetIntEnable

4. Configure Module to Cause Rx Interrupt - sets the BAUD Rate to 1mbit/s (CAN AB) or 500k bits/s (CAN J1939) as definted in nai_can_cfg.h
   It also enables the particular channel on the module to receive can messages

   API CALLS - naibrd_CAN_SetBitTiming , naibrd_CAN_SetRxEnable

5. Show Interrupt Handling - Check if any interrupt has occurred and report back the status and vector

6. Re-arming Interrupts - Clear the status register to allow interrupts to occur again. This is done by writing to the status register.
   In this program, we use an API call to do this.

   API CALLS - naibrd_CAN_ClearStatusRaw

7. Clear Module Configurations

   API CALLS - naibrd_CAN_SetRxEnable

8. Clear Board Configurations

   API CALLS - naibrd_UninstallISR

</summary>
*/
/**************************************************************************************************************/
static bool_t Run_CAN_Interrupt_Basic()
{
    bool_t bQuit = FALSE;
    int32_t maxChannel = naibrd_CAN_GetChannelCount(inputCANConfig.modid);
    int32_t minChannel = 1;
   /* Query user for RX channel */

   if(!bQuit)
   {

      bQuit = naiapp_query_ChannelNumber(maxChannel,minChannel,&inputCANConfig.channel);
      inputCANConfig.minChannel = inputCANConfig.channel;
      inputCANConfig.maxChannel = inputCANConfig.channel;
   }
   /* Query user for location interrupt will be sent out to */
   if(!bQuit)
   {
      bQuit = GetIntSteeringTypeFromUser(&inputInterruptConfig.steering);
   }

   if (!bQuit)
   {
      /**** 2. Implement Bus Interrupt Handling****/
      setIRQ(inputInterruptConfig.steering,&inputInterruptConfig.irq);
      naibrd_InstallISR(inputCANConfig.cardIndex,inputInterruptConfig.irq, basic_ISR_CAN,NULL);

      /****3. configure Module to perform interrupts****/
      configureCANToInterruptOnRx(inputInterruptConfig,inputCANConfig);
      enableCANInterrupts(inputCANConfig,TRUE);

      /****4. Configure Module to cause Interrupts ****/
      Cfg_Rx_CAN(inputCANConfig);

      /****5. Show  Interrupt Handling (contains step 6)****/
      bQuit = CAN_checkForInterrupt(inputCANConfig);

      /*****7. Clear Module Configurations*****/
      check_status(naibrd_CAN_SetRxEnable(inputCANConfig.cardIndex, inputCANConfig.module, inputCANConfig.channel, FALSE));

      /*****8. Clear Board Configurations *****/
      check_status(naibrd_UninstallISR(inputCANConfig.cardIndex));
   }
   return bQuit;
}