**CAN Communication** rev_02

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    - Project: **CAN Communication**
    - Source Code NOT compiled for: ESP32 DevKit V1
    - Source Code created on: 2024-11-28 13:42:24

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/****** SYSTEM REQUIREMENTS *****/
/****** SYSTEM REQUIREMENT 1 *****/
    /* Receive message from ArduPilot through CAN bus */
    /* using DroneCan protocol */
/****** END SYSTEM REQUIREMENTS *****/


/********* User code review feedback **********
#### Feedback 1 ####
- Use libcanard
********* User code review feedback **********/

/* START CODE */

/****** DEFINITION OF LIBRARIES *****/
#include <SPI.h>          // Include SPI library for communication
#include <mcp2515.h>     // Include MCP2515 library for CAN interface
#include <DroneCAN.h>     // Include DroneCAN library for DroneCAN protocol
#include <libcanard.h>    // Include libcanard library for CANard protocol

/****** FUNCTION PROTOTYPES *****/
void setup(void);
void loop(void);

// Create an instance of the MCP2515 CAN controller
MCP2515 mcp2515(10); // Assuming CS pin is 10

// Create an instance of the DroneCAN protocol
DroneCAN droneCAN(mcp2515);

void setup(void)
{
    // Initialize the CAN bus
    mcp2515.reset();
    mcp2515.setBitrate(CAN_500KBPS, MCP2515_16MHZ); // Set bitrate to 500 kbps
    mcp2515.setNormalMode(); // Set CAN to normal mode

    // Initialize DroneCAN
    droneCAN.begin();
}

void loop(void)
{
    // Check for incoming messages
    if (droneCAN.available()) {
        // Read the incoming message
        can_frame frame;
        droneCAN.read(frame);

        // Process the received message
        // (Add your message processing logic here)
    }

    // Other loop code can go here
}

/* END CODE */