// Arduino Due - Displays all traffic found on either canbus port
// By Thibaut Viard/Wilfredo Molina/Collin Kidder 2013-2014

// Required libraries
#include "variant.h"
#include <due_can.h>

//Leave defined if you use native port, comment if using programming port
//This sketch could provide a lot of traffic so it might be best to use the
//native port
#define Serial SerialUSB

void setup()
{

  Serial.begin(115200);
  
  // Initialize CAN0 and CAN1, Set the proper baud rates here
  Can0.begin(CAN_BPS_250K);
  Can1.begin(CAN_BPS_250K);
  
  //By default there are 7 mailboxes for each device that are RX boxes
  //This sets each mailbox to have an open filter that will accept extended
  //or standard frames
  int filter;
  //extended
  for (filter = 0; filter < 3; filter++) {
	Can0.setRXFilter(filter, 0, 0, true);
	Can1.setRXFilter(filter, 0, 0, true);
  }  
  //standard
  for (int filter = 3; filter < 7; filter++) {
	Can0.setRXFilter(filter, 0, 0, false);
	Can1.setRXFilter(filter, 0, 0, false);
  }  
  
}

void printFrame(CAN_FRAME &frame) {
   Serial.print("ID: 0x");
   Serial.print(frame.id, HEX);
   Serial.print(" Len: ");
   Serial.print(frame.length);
   Serial.print(" Data: 0x");
   for (int count = 0; count < frame.length; count++) {
       Serial.print(frame.data.bytes[count], HEX);
       Serial.print(" ");
   }
   Serial.print("\r\n");
}

void loop(){
  CAN_FRAME incoming;

  if (Can0.available() > 0) {
	Can0.read(incoming); 
	printFrame(incoming);
  }
  if (Can1.available() > 0) {
	Can1.read(incoming); 
	printFrame(incoming);
  }
}