// --------------------------------------  Umbenenen der STM Pins
// Bliotheken
//------------------------------------------------------------------------------------------------------------Testweise auskommentiert    #include <assert.h>
#include "stm32f103.h"  // Bei selbst erstellten Bibliotheken der name immer in Anführungszeichen!! Nicht in größer kleiner als Zeichen!

// EIngänge
// Taster
const int Taster = PB6;
int TasterState = 0;
// Ausgänge
const int LED = PA0;
const int LED2 = PA3;
uint8_t counter = 0;
uint8_t frameLength = 0;
unsigned long previousMillis = 0;     // stores last time output was updated
const long interval = 1000;           // transmission interval (milliseconds)

void setup()
{

  // --------------------------------------  pinMode
  pinMode(Taster, INPUT);
  pinMode(LED, OUTPUT);
  pinMode(LED2, OUTPUT);
  pinMode(LED_BUILTIN, OUTPUT);  //LED auf Arduino auf HIGH
  // CAN aktivieren

  {
    Serial.begin(115200);
  // bool ret = CANInit(CAN_500KBPS, 0);  // CAN_RX mapped to PA11, CAN_TX mapped to PA12
     bool ret = CANInit(CAN_500KBPS, 2);  // CAN_RX to PB8, CAN_TX to PB9
    if (!ret) while (true);
  }

}

void loop()
{

  {
    CAN_msg_t CAN_TX_msg;
    CAN_msg_t CAN_RX_msg;

    CAN_TX_msg.data[0] = 0x00;
    CAN_TX_msg.data[1] = 0x01;
    CAN_TX_msg.data[2] = 0x02;
    CAN_TX_msg.data[3] = 0x03;
    CAN_TX_msg.data[4] = 0x04;
    CAN_TX_msg.data[5] = 0x05;
    CAN_TX_msg.data[6] = 0x06;
    CAN_TX_msg.data[7] = 0x07;
    CAN_TX_msg.len = frameLength;

    unsigned long currentMillis = millis();
    if (currentMillis - previousMillis >= interval) {
      previousMillis = currentMillis;
      if ( ( counter % 2) == 0) {
        CAN_TX_msg.type = DATA_FRAME;
        if (CAN_TX_msg.len == 0) CAN_TX_msg.type = REMOTE_FRAME;
        CAN_TX_msg.format = EXTENDED_FORMAT;
        CAN_TX_msg.id = 0x32F103;
      } else {
        CAN_TX_msg.type = DATA_FRAME;
        if (CAN_TX_msg.len == 0) CAN_TX_msg.type = REMOTE_FRAME;
        CAN_TX_msg.format = STANDARD_FORMAT;
        CAN_TX_msg.id = 0x103;
      }
      CANSend(&CAN_TX_msg);
      frameLength++;
      if (frameLength == 9) frameLength = 0;
      counter++;
    }

    if (CANMsgAvail()) {
      CANReceive(&CAN_RX_msg);

      if (CAN_RX_msg.format == EXTENDED_FORMAT) {
        Serial.print("Extended ID: 0x");
        if (CAN_RX_msg.id < 0x10000000) Serial.print("0");
        if (CAN_RX_msg.id < 0x1000000) Serial.print("00");
        if (CAN_RX_msg.id < 0x100000) Serial.print("000");
        if (CAN_RX_msg.id < 0x10000) Serial.print("0000");
        Serial.print(CAN_RX_msg.id, HEX);
      }
      else
      {
        Serial.print("Standard ID: 0x");
        if (CAN_RX_msg.id < 0x100) Serial.print("0");
        if (CAN_RX_msg.id < 0x10) Serial.print("00");
        Serial.print(CAN_RX_msg.id, HEX);
        Serial.print("     ");
      }

      Serial.print(" DLC: ");
      Serial.print(CAN_RX_msg.len);
      if (CAN_RX_msg.type == DATA_FRAME) {
        Serial.print(" Data: ");
        for (int i = 0; i < CAN_RX_msg.len; i++) {
          Serial.print("0x");
          Serial.print(CAN_RX_msg.data[i], HEX);
          if (i != (CAN_RX_msg.len - 1))  Serial.print(" ");
        }
        Serial.println();
      }
      else
      {
        Serial.println(" Data: REMOTE REQUEST FRAME");
      }
    }

  }

  digitalWrite(LED2, HIGH);
  TasterState = digitalRead(Taster);    // Taster abfragen

  if (TasterState == LOW)
  {
    digitalWrite(LED, LOW);
  }
  else
  {
    digitalWrite(LED, HIGH);
  }


}