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void can_code_transmit()
{
    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(12,14,TWAI_MODE_NORMAL);
    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();

    if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
        printf("Driver has been successfully installed\n");
    } else {
        printf("Failure in installing CAN driver\n");
        return;
    }

    if (twai_start() == ESP_OK) {
        printf("Driver started\n");
    } else {
        printf("Driver failed\n");
        return;
    }

    while (1)
    {
        twai_message_t message;
        message.identifier = 0x8;
        message.extd = 1;
        // message.flags = 0x00;
        message.data_length_code = 8;

        printf("Transmitting message from: 0x%d, ", message.identifier);
        printf("DLC: %d, ", message.data_length_code);
        printf("Message: "); 
        for (int i=0; i<message.data_length_code; i++) {
            unsigned char array[8] = {0x1,0x2,0x3,0x4,0xf,0xa,0xc,0xd};
            // unsigned char array[8] = {1,2,3,4,15,10,12,13};
            message.data[i] = array[i];
            // message.data[i] = 0;
            printf("0x%X ",message.data[i]); //%x lower case; %X upper case
        }printf(", ");
        if (twai_transmit(&message, pdMS_TO_TICKS(1000)) == ESP_OK) {            
            printf("Message queued for transmission\n");
        } else {
            printf("Failed to queue message for transmission\n");
        }
        
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }    
}