Main.c

#include <avr/io.h>

#include <stdlib.h>

#include <regs.h>

#include <spi.h>

#include <can2515.h>

#include <stdint.h>

#include <avr/interrupt.h>

#include "can_interface.h"

int main(){

  DDRD &= ~(1<<PD7);

  DDRD &= ~(1<<PD2);

  PORTD |= (1<<PD7);

  PORTD |= (1<<PD2);

  init_spi();

  controller_reset();

  init_bittiming();

     init_transmitter();

  init_receiver();

  controller_normal_mode();

  modify_register(CANCTRL, 0b111,0b101);

  modify_register(BFPCTRL, 0b00101010, 0b00101000);

  uint8_t PD2_pressed_flag = 0;

  while(1==1){

    if((PIND & (1<<PD7)) == 0){

      modify_register(BFPCTRL, 0b00101010, 0b00001000);

      Message *message;

      handle_interrupt(message);

      handle_can_message(message);

      modify_register(BFPCTRL, 0b00101010, 0b00101000);

    }

    if((PIND & (1<<PD2)) == 0 && (PD2_pressed_flag == 0)){

      PD2_pressed_flag = 1;

      modify_register(BFPCTRL, 0b00101010, 0b00001000);

      char data[] = " :100010000C9454000C9454000C9454000C94540010 ";

      write_bootloader_message_buffered_to_can(strlen(data),data);

    }

    if((PIND & (1<<PD2))!=0){

      modify_register(BFPCTRL, 0b00101010, 0b00101000);

      PD2_pressed_flag = 0;

    }

  }

  return 0;

}