/*
 * Note that these examples do not include everything necessary for fully
 * working CAN. It is necessary to set up the crossbar and system clock
 * correctly in order for the CAN module to work properly.
 */

/* Example CAN Transmission Code */
/* This will send a 3-byte message (0x12 0x34 0x56) to 10-bit address 0x123 */ 

#include "can.h"

/* ... */

unsigned char data[3] = {0x12, 0x34, 0x56};
CAN_BUFFER canbuf;
can_init( );

/* ... */

while (1) {
    /* ... */
    if (want_to_transmit_something) {
        canbuf = can_get_tx_buf( );
        can_set_address_std(canbuf, 0x123);
        can_set_buffer_data(canbuf, data, sizeof(data));
        can_send_tx_buf(canbuf);
    }
    /* ... */
}


/* Example CAN Reception Code */
/* This will receive a message and print its contents to the terminal */
/* Might also be useful for testing purposes */

#include "can.h"

/* ... */

unsigned char data[8];
CAN_BUFFER canbuf;
can_init( );

/* ... */

while (1) {
    
    /* ... */

    canbuf = can_get_rx_msg( );
    // check if anything was actually received
    if (canbuf) {
        printf("Length: %d\n", can_get_dlc(canbuf));
        printf("Message ID: %04x\n", can_get_address(canbuf));
        printf("Data: ");
        for (i = 0; i < can_get_dlc(canbuf); ++i) {
            printf("%02x ", can_get_data_byte(canbuf, i));
        }
        printf("\nEnd of Message\n");
    }
}