/*
  CAN Read Example

  This sketch shows how to use the CAN transceiver on the Machine
  Control and how to receive data from the RX CAN channel.

  Circuit:
   - Portenta H7
   - Machine Control

*/
#include <Arduino_MachineControl.h>
#include <CAN.h>

using namespace machinecontrol;

#define DATARATE_2MB     2000000
#define DATARATE_1_5MB   1500000
#define DATARATE_1MB     1000000
#define DATARATE_800KB   800000


void setup() {
  Serial.begin(9600);
  while (!Serial) {
    ; // wait for serial port to connect.
  }

  Serial.println("Start CAN initialization");
  comm_protocols.enableCAN();
  comm_protocols.can.frequency(DATARATE_800KB);
  Serial.println("Initialization done");
}


void loop() {
  mbed::CANMessage msg;
  if (comm_protocols.can.read(msg)) {

    // Print the sender ID
    Serial.print("ID: ");
    Serial.println(msg.id);

    // Print the first Payload Byte
    Serial.print("Message received:");
    Serial.println(msg.data[0], DEC);

  }

  delay(100);
}