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/* lib files */
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/* lib files */
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#include <can.h>
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#include <can.h>
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#include <serial.h>
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#include <serial.h>
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#include <timebase.h>
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#include <timebase.h>
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#include <lcd_HD44780.h>
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#include <lcd_HD44780.h>
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#define BUFFER_SIZE 20
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/*-----------------------------------------------------------------------------
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/*-----------------------------------------------------------------------------
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 * Main Program
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 * Main Program
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 *---------------------------------------------------------------------------*/
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 *---------------------------------------------------------------------------*/
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int main(void) {
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int main(void) {
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    char buffer[ BUFFER_SIZE ];
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    int num=1234;
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    Timebase_Init();
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    Timebase_Init();
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    Serial_Init();
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    Serial_Init();
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    sei();
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    sei();
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    lcd_init( LCD_DISP_ON );
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    lcd_init( LCD_DISP_ON );
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    printf("\n------------------------------------------------------------\n");
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    printf("\n------------------------------------------------------------\n");
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    printf(  "   CAN Test: Periodic Transmission\n");
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    printf(  "   CAN Test: Periodic Transmission\n");
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    printf(  "------------------------------------------------------------\n");
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    printf(  "------------------------------------------------------------\n");
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    lcd_clrscr();
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    lcd_clrscr();
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    lcd_puts("CAN LCD test\n");
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    lcd_puts("CAN LCD test\n");
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    printf("CanInit...");
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    printf("CanInit...");
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    lcd_puts("CanInit... ");
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    lcd_puts("CanInit... ");
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    if (Can_Init() != CAN_OK) {
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    if (Can_Init() != CAN_OK) {
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    }
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    }
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    else {
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    else {
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        printf("OK!\n");
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        printf("OK!\n");
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        lcd_puts("OK!\n");
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        lcd_puts("OK!\n");
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    }
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    }
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//    snprintf(buffer, BUFFER_SIZE, "yo %d 98765432109\n", num);
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//    lcd_puts(buffer);
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//    lcd_puts("test\n");
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//    lcd_puts(buffer);
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    uint32_t timeStamp = 0;
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    uint32_t timeStamp = 0;
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    Can_Message_t txMsg;
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    Can_Message_t txMsg;
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    Can_Message_t rxMsg;
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    Can_Message_t rxMsg;
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    txMsg.Id = 0;
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    txMsg.Id = 0;
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    txMsg.RemoteFlag = 0;
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set.
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    txMsg.ExtendedFlag = 1; //DataLength and the databytes are just what happens to be in the memory. They are never set.
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    /* main loop */
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    /* main loop */
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    while (1) {
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    while (1) {
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        /* service the CAN routines */
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        /* service the CAN routines */
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        Can_Service();
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        Can_Service();
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        /* check if any messages have been received */
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        /* check if any messages have been received */
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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        while (Can_Receive(&rxMsg) == CAN_OK) {
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            printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            printf("MSG Received: ID=%lx, DLC=%u, EXT=%u, RTR=%u, ", rxMsg.Id, (uint16_t)(rxMsg.DataLength), (uint16_t)(rxMsg.ExtendedFlag), (uint16_t)(rxMsg.RemoteFlag));
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            printf("data={ ");
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            printf("data={ ");
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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            for (uint8_t i=0; i<rxMsg.DataLength; i++) {
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                printf("%x ", rxMsg.Data.bytes[i]);
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                printf("%x ", rxMsg.Data.bytes[i]);
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            }
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            }
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            printf("}\n");
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            printf("}\n");
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            if( rxMsg.Id == 0x3 ){
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//                lcd_gotoxy(0,1);
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                lcd_clrscr();
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 //               lcd_putc(0xdf);
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                lcd_puts("Temperature data:\n");
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                for( uint8_t i=0; i<(rxMsg.DataLength/2); i++ ){
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                        snprintf( buffer, BUFFER_SIZE, "Sensor %i: %d,%d%cC", i, rxMsg.Data.bytes[i*2], rxMsg.Data.bytes[i*2+1], 0xdf );
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                        lcd_gotoxy(0,1+i);
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                        lcd_puts( buffer );
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                }
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            }
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        }
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        }
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    }
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    }
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    return 0;
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    return 0;
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}
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}