// Arduino Due - Displays all traffic found on either canbus port
//Modified from the more generic TrafficSniffer sketch to instead use
//callback functions to receive the frames. Illustrates how to use
//the per-mailbox and general callback functionality
// By Thibaut Viard/Wilfredo Molina/Collin Kidder 2013-2014

// Required libraries
#include "variant.h"
#include <due_can.h>

//Leave defined if you use native port, comment if using programming port
//This sketch could provide a lot of traffic so it might be best to use the
//native port
#define Serial SerialUSB

void printFrame(CAN_FRAME *frame, int filter) {
   Serial.print("Fltr: ");
   if (filter > -1) Serial.print(filter);
   else Serial.print("???");
   Serial.print(" ID: 0x");
   Serial.print(frame->id, HEX);
   Serial.print(" Len: ");
   Serial.print(frame->length);
   Serial.print(" Data: 0x");
   for (int count = 0; count < frame->length; count++) {
       Serial.print(frame->data.bytes[count], HEX);
       Serial.print(" ");
   }
   Serial.print("\r\n");
}

void gotFrameMB0(CAN_FRAME *frame) 
{
  printFrame(frame, 0);
}

void gotFrameMB1(CAN_FRAME *frame) 
{
  printFrame(frame, 1);
}

void gotFrameMB3(CAN_FRAME *frame) 
{
  printFrame(frame, 3);
}

void gotFrameMB4(CAN_FRAME *frame) 
{
  printFrame(frame, 4);
}

void gotFrameMB5(CAN_FRAME *frame) 
{
  printFrame(frame, 5);
}

void gotFrame(CAN_FRAME *frame) 
{
  printFrame(frame, -1);
}

void setup()
{

  Serial.begin(115200);
  
  // Initialize CAN0, Set the proper baud rates here
  Can0.begin(CAN_BPS_250K);
  
  //By default there are 7 RX mailboxes for each device
  //extended
  //syntax is mailbox, ID, mask, extended
  Can0.setRXFilter(0, 0x2FF00, 0x1FF2FF00, true);
  Can0.setRXFilter(1, 0x1F0000, 0x1F1F0000, true);
  Can0.setRXFilter(2, 0, 0, true); //catch all mailbox
  
  //standard  
  Can0.setRXFilter(3, 0x40F, 0x7FF, false);
  Can0.setRXFilter(4, 0x310, 0x7F0, false);
  Can0.watchFor(0x200, 0x700); //used in place of above syntax
  Can0.setRXFilter(0, 0, false); //catch all mailbox - no mailbox ID specified
  
  //now register all of the callback functions.
  Can0.setCallback(0, gotFrameMB0);
  Can0.setCallback(1, gotFrameMB1);
  Can0.setCallback(3, gotFrameMB3);
  Can0.setCallback(4, gotFrameMB4);
  Can0.setCallback(5, gotFrameMB5);
  //this function will get a callback for any mailbox that doesn't have a registered callback from above -> 2 and 6
  Can0.setGeneralCallback(gotFrame);
  
}

void loop(){ //note the empty loop here. All work is done via callback as frames come in - no need to poll for them
}