// This #include statement was automatically added by the Particle IDE.
#include <mcp_can.h>

/* CAN Receive though SPI
 * This receives messages on the RNET system
 *  
 */

// This content needs to be in the header of the main program
PRODUCT_ID(8286); //This is the number found in the console
PRODUCT_VERSION(2); // Increase this number each time something is changed
String fwrev = "1.1"; // This is the value checked to determine if an update is required

//system_thread enables the dual processing
SYSTEM_THREAD(ENABLED);
//must call Particle.connect() to connect to cloud
SYSTEM_MODE(SEMI_AUTOMATIC);
// -------------------------------------------------------------

#include <mcp_can.h>
#include <SPI.h>

// CAN TX Variables
unsigned long prevTX = 0;                                        // Variable to store last execution time
const unsigned int invlTX = 1000;                                // One second interval constant
byte data[] = {0xA1, 0xA2, 0xA3, 0xA4, 0xA5, 0xA6, 0xA7, 0xA8};  // Generic CAN data to send

// CAN RX Variables
long unsigned int rxId;
unsigned char len;
unsigned char rxBuf[8];
int bufferstatus;

// Serial Output String Buffer
char msgString[128];

// CAN0 INT and CS
#define CAN0_INT D5                              // Set INT to pin D5
MCP_CAN CAN0(A5);                               // Set CS to pin A5


void setup()
{
  Serial.begin(115200);  // CAN is running at 500,000BPS; 115,200BPS is SLOW, not FAST, thus 9600 is crippling.
  
  // Initialize MCP2515 running at 20MHz with a baudrate of 125kb/s and the masks and filters disabled.
  if(CAN0.begin(MCP_ANY, CAN_125KBPS, MCP_20MHZ) == CAN_OK)
    Serial.println("MCP2515 Initialized Successfully!");
  else
    Serial.println("Error Initializing MCP2515...");
  
  // We can be in LISTENONLY, LOOPBACK and NORMAL mode. Normal mode sends acks back
  CAN0.setMode(MCP_LISTENONLY);

  pinMode(CAN0_INT, INPUT_PULLUP);                           // Configuring pin for /INT input
  
  Serial.println("MCP2515 Library receive");
}

void loop()
{

  if(!digitalRead(CAN0_INT))                          // If CAN0_INT pin is low, read receive buffer
  //if(CAN0.checkReceive() == CAN_MSGAVAIL)           // Another way to see if a message is available outside of the interrupts
  {
    bufferstatus = CAN0.mcp2515_readStatus();
    if((CAN0.readMsgBuf(&rxId, &len, rxBuf, 1)) == CAN_OK){              // Read data: len = data length, buf = data byte(s)
    
      if((rxId & 0x80000000) == 0x80000000)             // Determine if ID is standard (11 bits) or extended (29 bits)
        sprintf(msgString, "Extended ID: 0x%.8lX  DLC: %1d  Data:", (rxId & 0x1FFFFFFF), len);
      else
        sprintf(msgString, "Standard ID: 0x%.3lX       DLC: %1d  Data:", rxId, len);
  
    Serial.print(msgString);
  
      if((rxId & 0x40000000) == 0x40000000){            // Determine if message is a remote request frame.
        sprintf(msgString, " REMOTE REQUEST FRAME");
        Serial.print(msgString);
      } else {
        for(byte i = 0; i<len; i++){
          sprintf(msgString, " 0x%.2X", rxBuf[i]);
          Serial.print(msgString);
      }
    }
    Serial.println();
  }
    //delay(1000);    
    

/*
    if ((CAN0.checkReceive()) == CAN_MSGAVAIL){         //Another method outside of interrupts
      CAN0.readMsgBuf(&rxId, &len, rxBuf);              // Read data: len = data length, buf = data byte(s)
      sprintf(msgString, "\r\n ID: 0x%.3lX       DLC: %1d  Data:", rxId, len);
      Serial.print(msgString);
      for(byte i = 0; i<len; i++){
        sprintf(msgString, " 0x%.2X", rxBuf[i]);
        Serial.print(msgString);
      }

    }*/

 /* 
  if(millis() - prevTX >= invlTX){                    // Send this at a one second interval. 
    prevTX = millis();
    byte sndStat = CAN0.sendMsgBuf(0x100, 8, data);
    
    if(sndStat == CAN_OK)
      Serial.println("Message Sent Successfully!");
    else
      Serial.println("Error Sending Message...");

  }*/
  }
}

/*********************************************************************************************************
  END FILE
*********************************************************************************************************/