#include <ESP32CAN.h>
#include <CAN_config.h>

// do not change the name!
CAN_device_t CAN_cfg;

void setup() {
    Serial.begin(115200);
    Serial.println("hello");

    CAN_cfg.speed=CAN_SPEED_1000KBPS;
    CAN_cfg.tx_pin_id = GPIO_NUM_5;
    CAN_cfg.rx_pin_id = GPIO_NUM_4;
    CAN_cfg.rx_queue = xQueueCreate(10,sizeof(CAN_frame_t));
    ESP32Can.CANInit();
}

void loop() {
    CAN_frame_t rx_frame;
    if(xQueueReceive(CAN_cfg.rx_queue,&rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE){

      if(rx_frame.FIR.B.FF == CAN_frame_std)
        Serial.println("New standard frame");
      else
        Serial.println("New extended frame");

      if(rx_frame.FIR.B.RTR == CAN_RTR){
        printf(" RTR from 0x%08x, DLC %d\r\n",rx_frame.MsgID,  rx_frame.FIR.B.DLC);
      }else{
        printf(" from 0x%08x, DLC %d\n",rx_frame.MsgID,  rx_frame.FIR.B.DLC);
        for(int i = 0; i < 8; i++){
          printf("%x ", rx_frame.data.u8[i]);
        }
      }
      Serial.println();
    }
}