#include<Arduino.h>
#include <mcp_can.h>            
#include<SPI.h>                 

#define MODE_PIN 9

const byte data[8] = {0x02, 0x21, 0x90, 0x00, 0x00, 0x00, 0x00, 0x00};
const byte data2[8] = {0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00};
const byte COUNT_ROWS = 11;

byte command[COUNT_ROWS][8] = {
  {0x10, 0x0A, 0x3B, 0x1F, 0x00, 0x00, 0x00, 0x00},
  {0x21, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x04, 0x14, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00},
  {0x02, 0x10, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x02, 0x10, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x02, 0x21, 0x81, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x03, 0x22, 0x12, 0x03, 0x00, 0x00, 0x00, 0x00},
  {0x03, 0x22, 0x12, 0x05, 0x00, 0x00, 0x00, 0x00},
  {0x03, 0x22, 0x12, 0x5C, 0x00, 0x00, 0x00, 0x00},
  {0x30, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}
};

byte command1[5][8] = {
  {0x02, 0x10, 0xFA, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x06, 0x3D, 0x04, 0x00, 0x02, 0x3E, 0x02, 0x00},
  {0x02, 0x11, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00},
  {0x04, 0x14, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00}
};

long unsigned int rxId;        // CAN message ID
unsigned char len = 0;         // Data length
unsigned char rxBuf[8];        // Buffer IN
unsigned char txBuf[8];        // Buffer OUT

long CANInterval = 500;        // 0x79b message repeat interval in case of unsuccessful previous attempts
int CANSt = 0;
long CANMillis = 0;            // for 0x79b message repeat

byte RcvFrIdx = 0;
byte count = 0;
byte count1 = 0;
bool state = false;

#define CAN0_INT 2              // Set INT to pin 2
MCP_CAN CAN0(10);               // Set CS to pin 10

void setup(void) {

  if (CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_8MHZ) == CAN_OK) {

  }
  else {

  }

  CAN0.setMode(MCP_NORMAL);                     // Set operation mode to normal so the MCP2515 sends acks to received data.
  pinMode(CAN0_INT, INPUT);                     // Configuring pin for /INT input
  pinMode(MODE_PIN, INPUT_PULLUP);
  state = digitalRead(MODE_PIN);
}


void loop(void) {

  if (state != digitalRead(MODE_PIN)) {
    state = digitalRead(MODE_PIN);
    count = 0;
    count1 = 0;
    delay(500);
  }

  // talking to the CANbus and caclulating stuff

  if (!digitalRead(CAN0_INT))                     // If CAN0_INT pin is low, read receive buffer
  {
    if (count == 0) {
      if (digitalRead(MODE_PIN)) {
        CAN0.readMsgBuf(&rxId, &len, rxBuf);        // Read data: len = data length, buf = data byte(s)

        if (CANSt == 0) {
          byte sndStat = CAN0.sendMsgBuf(0x79b, 0, 8, data);
          CANMillis = millis();
          CANSt = 1;
        }
        if (rxId == 0x7bb && rxBuf[0] == 0x10) {
          for (uint8_t k = 4; k < 8; k++ ) command[0][k] = rxBuf[k];
          byte sndStat = CAN0.sendMsgBuf(0x79b, 0, 8, data2);
        }
        else if (rxId == 0x7bb && rxBuf[0] == 0x21) {
          for (uint8_t k = 1; k < 5; k++ ) command[1][k] = rxBuf[k];
          RcvFrIdx = 1;
        }
        if (RcvFrIdx == 1) {
          // Отправление посылки
          for (uint8_t k = 0; k < COUNT_ROWS; k++) {
            for (uint8_t i = 0; i < 8; i++) txBuf[i] = command[k][i];
            byte sndStat = CAN0.sendMsgBuf(0x797, 0, 8, txBuf);
            delay(100);
          }

          delay(500);

          count = 1;
        }

        //unsigned long currentCANMillis = millis();
        if (millis() - CANMillis > (3 * CANInterval)) {
          CANSt = 0;
        }
      }
    }
    if (count1 == 0) {
      if (! digitalRead(MODE_PIN)) {
        for (uint8_t k = 0; k < 5; k++) {
          for (uint8_t i = 0; i < 8; i++) txBuf[i] = command1[k][i];
          byte sndStat = CAN0.sendMsgBuf(0x743, 0, 8, txBuf);
          delay(200);
        }
        count1 = 1;
      }
    }
  }
}