#include <mcp_can.h>  // Include MCP_CAN library to interface with the CAN bus
#include <SPI.h>     // Include SPI library for communication with the MCP2515 module

MCP_CAN CAN0(10);    // Initialize an instance of the MCP_CAN class for the CAN module (CS pin on 10)

unsigned long time_since_start; // Variable to store time since Arduino started

void setup()
{
  Serial.begin(115200); // Initialize serial communication at 115200 baud rate

  // Initialize MCP2515 running at 16MHz with a baudrate of 500kb/s and the masks and filters disabled.
  if(CAN0.begin(MCP_ANY, CAN_250KBPS, MCP_8MHZ) == CAN_OK) 
    Serial.println("MCP2515 Initialized Successfully!");
  else 
    Serial.println("Error Initializing MCP2515...");

  CAN0.setMode(MCP_NORMAL);   // Set MCP2515 to normal mode to enable message transmission
}

byte data[8] = {0x0E, 0x88, 0x00, 0xB2, 0x00, 0x00, 0x00, 0x00}; // Data array to be sent over CAN bus

void loop()
{
  // Send data over CAN bus: ID = 0x1806E5F4, Standard frame, data length = 8 bytes
  byte sndStat = CAN0.sendMsgBuf(0x1806E5F4, 0, 8, data);

  if(sndStat == CAN_OK){
    // If message sent successfully, print the data and other details
    printByteArrayAsString(data, 8);
    Serial.print("Message Sent Successfully! ID: 0x1806E5F4, Length: 8 bytes, Time: ");
    time_since_start = millis();  // Get the current time since Arduino started
    Serial.print(time_since_start);
    Serial.println(" ms");
  } else { // If there was an error in sending, print an error message
    Serial.println("Error Sending Message...");
  }
  delay(900);   // Delay of 900 milliseconds before next send
}

void printByteArrayAsString(byte byteArray[], int length) {
  // Converts the byte array to a string of hexadecimal values and prints it
  char str[length * 2 + 1]; // Allocate space for the string

  for (int i = 0; i < length; i++) {
    sprintf(&str[i * 2], "%02X", byteArray[i]); // Convert each byte to hexadecimal
  }

  str[length * 2] = '\0'; // Null-terminate the string

  Serial.println(str); // Print the hexadecimal string to the serial monitor
}