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Rev 671 Rev 673
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#endif
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#endif
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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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    txMsg.RemoteFlag = 0;
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    txMsg.RemoteFlag = 0;
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    txMsg.ExtendedFlag = 1;
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    txMsg.ExtendedFlag = 1;
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    txMsg.Id = SENDING_ID;
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    txMsg.Id = SENDING_ID;
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    txMsg.DataLength = 2;
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    txMsg.DataLength = 2;
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    txMsg.Data.bytes[0] = 0x12;
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    txMsg.Data.bytes[0] = 0x12;
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        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
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        if (Timebase_PassedTimeMillis(timeStamp) >= 1000) {
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            timeStamp = Timebase_CurrentTime();
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            timeStamp = Timebase_CurrentTime();
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            /* send txMsg */
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            /* send txMsg */
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            txMsg.Id = SENDING_ID;
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            txMsg.Id = SENDING_ID;
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            Can_Send(&txMsg);
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            Can_Send(&txMsg);
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#if defined(UART_OUTPUT)
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            printf("\nSending: %#lx", txMsg.Id);
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#endif
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        }
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        }
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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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        if (rxMsgFull) {
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        if (rxMsgFull) {
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#if defined(UART_OUTPUT)
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#if defined(UART_OUTPUT)
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            }
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            }
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#endif
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#endif
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            /* Echo function */
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            /* Echo function */
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            if(rxMsg.Id == ECHO_RECEIVE_ID){
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            if(rxMsg.Id == ECHO_RECEIVE_ID){
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#if defined(UART_OUTPUT)
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#if defined(UART_OUTPUT)
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                printf("\n\"ping\" received");
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                printf("\n\"ping\" received: %#lx", rxMsg.Id);
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                txMsg.Id = ECHO_SENDING_ID;
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                txMsg.Id = ECHO_SENDING_ID;
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                /* Send reply */
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                /* Send reply */
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                Can_Send(&txMsg);
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                Can_Send(&txMsg);
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                printf("\nreply sent");
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                printf("\nreply sent, ID: %#lx", txMsg.Id);
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#else
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#else
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                txMsg.Id = ECHO_SENDING_ID;
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                txMsg.Id = ECHO_SENDING_ID;
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                /* Send reply */
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                /* Send reply */
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                Can_Send(&txMsg);
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                Can_Send(&txMsg);
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#endif
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#endif