/*
 * canclient.cpp
 *
 *  Created on: Oct 31, 2016
 *      Author: wn
 */

#include "canclient.h"

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


const int SPI_CS_PIN = 10;
MCP_CAN CAN(SPI_CS_PIN);                                    // Set CS pin


void CanClientNS::begin() {
	while (CAN_OK != CAN.begin(CAN_500KBPS))              // init can bus : baudrate = 500k
	{
	    Serial.println("CAN BUS Shield init fail");
	    Serial.println(" Init CAN BUS Shield again");
	    delay(100);
	}
	Serial.println("CAN BUS Shield init ok!");
}

void CanClientNS::exec() {

}

void CanClientNS::sendMessage(uint32_t addr, uint8_t payloadLength, uint8_t *payload) {
	// CAN.sendMsgBuf(0x00, 0, 8, stmp);

	Serial << "Once again:" << endl;
	Serial << "Address: " << addr << endl;
	Serial << "Length:  " << (uint16_t)payloadLength << endl;
	Serial << "Data:    ";
	for (uint8_t i = 0; i < payloadLength; i++) {
		Serial << (uint16_t)payload[i] << " ";
	}
	Serial << endl;

}