/*
 * CanTest.c
 *
 * Created: 25.11.2015 13:50:40
 *  Author: ms68686
 */ 



#include <avr/io.h>
#include <avr/pgmspace.h>
#include "util/delay.h"
#include <avr/interrupt.h>

#include "can.h"

int main(void)
{
	//
	DDRF = 0xFF;
	//aus
	PORTF &=~  (1<<PF0);
	
	can_init(BITRATE_125_KBPS);

	// Create a test messsage
 	can_t msg;
 	
	msg.id = 0x66;
	msg.flags.rtr = 0;
	msg.flags.extended = 1;
 	
 	msg.length = 4;
 	msg.data[0] = 0xde;
 	msg.data[1] = 0xad;
	msg.data[2] = 0xbe;
 	msg.data[3] = 0xef;

	
	can_send_message(&msg);
	_delay_ms(1000);
	
		//aus
 	PORTF &=~  (1<<PF0);
 	sei();
 	_delay_ms(1000);
     while (1)
   {
	   // Check if a new messag was received
		if (can_check_message())
  {
 		can_t msg;
 		   
// // Try to read the message
 		if (can_get_message(&msg))
    {
// // 			   
 		if(msg.id == 0x1A)
 	   {
//  				   //ein
					//msg.id += 10;
 					PORTF |= (1<<PF0);
 				  _delay_ms (1000);
 				  PORTF &=~ 1<<PF0;
 				  _delay_ms (1000);
			   }
					_delay_ms(1000);
	   }
   }
    }
 }