#include <mcp_can.h>
#include <SPI.h>
const int SPI_CS_PIN = 10;
MCP_CAN CAN(SPI_CS_PIN);  
int cm ;


void setup() {
  pinMode(A5,OUTPUT); analogWrite(A5,0);
  pinMode(A0, INPUT);
  Serial.begin(115200);
  Serial.println("restart UNO PDC CAN BUS");
    while (CAN_OK != CAN.begin(CAN_500KBPS))            
    {Serial.println("CAN BUS MCP 2515 / MCP 2562  init fail");
     Serial.println(" Init CAN BUS  again");
     delay(100);
    }
    Serial.println("CAN BUS  init ok!");
}
unsigned char stmp[8] = {0, 0, 0, 0, 0, 0, 0, 0};

void loop() {
  if ( analogRead(A0)> 400){
   Serial.print("r : "); Serial.println(" ON !!!!!!!!!!!!!!!!!!!!");
   stmp[0] = 64;
  }
  else {
    stmp[0] = 0;
  }
 
  for ( int pdc = 2; pdc < 8; pdc++ ){
     stmp[pdc] = 0;
    pinMode(pdc,OUTPUT);
  delayMicroseconds(5);                     
  digitalWrite(pdc, LOW);    
  delayMicroseconds(75);              
  digitalWrite(pdc, HIGH);   
  delayMicroseconds(5);
  pinMode(pdc,INPUT);
  long duration = pulseIn(pdc,HIGH,16000);
  Serial.print("pdc: "); Serial.print(pdc);Serial.print("duration = "); Serial.println(duration);
   if ( duration > 0){
  cm = (duration/2)/25.6;
  stmp[pdc] = cm;
  Serial.print("send pdc: ");Serial.print(pdc);Serial.print("/");Serial.print("cm = "); Serial.println(cm);  
  }
  delay(5);
  }
 Serial.print("canSend : "); 
 Serial.print(stmp[0]);Serial.print("/");Serial.print(stmp[1]);Serial.print("/");Serial.print(stmp[2]);Serial.print("/");Serial.print(stmp[3]);Serial.print("/");
 Serial.print(stmp[4]);Serial.print("/");Serial.print(stmp[5]);Serial.print("/");Serial.print(stmp[6]);Serial.print("/");Serial.print(stmp[7]);
 Serial.println(" now"); 
 CAN.sendMsgBuf(0x100, 0, 8, stmp);
  Serial.println("********************************");
}