#include <Arduino.h>
#include "mcp_can.h"

#define debug
#define CAN_CS_PIN  49
#define CAN_SPEED   CAN_500KBPS

unsigned char Flag_Recv = 0;
unsigned char len = 0;
unsigned char buf[8];
char str[20];

MCP_CAN CAN(CAN_CS_PIN);


void setup()
{
    #ifdef debug
    Serial.begin(115200);
    Serial.println("CAN Test Project - Sending Unit");
    delay(1000);
    Serial.println("Init MCP2515 CAN Controller...");
    #endif

START_INIT:

    if(CAN_OK == CAN.begin(CAN_SPEED))
    {
        #ifdef debug
        Serial.println("Sucessfully initialized.");
        #endif
    }
    else
    {
        #ifdef debug
        Serial.println("Initialization failed, try again.");
        #endif
        delay(100);
        goto START_INIT;
    }
}

void SendIntCAN(int canid, int value)
{
    byte buf[2];
    buf[0] = value & 0x00FF;
    buf[1] = (value & 0xFF00) >> 8;

    CAN.sendMsgBuf(canid, 0, 2, buf);
}

int counter = 0, counter2 = 32767;

void loop()
{
    counter++;
    SendIntCAN(1,counter);
    delay(100);
    counter2--;
    SendIntCAN(2,counter2);
    delay(500);
}