#ifdef WITH_CAN
void MAIN_CANreceivedData(tCAN_struct* pCANframe)
{
  UINT8 i;
	UINT8 rx_char;
  UINT8 i_befehl = 0;

  if (pCANframe->dlc == 0) return; // keine Daten

  #ifdef WITH_TIME
  	can_Rx_Supervise_Timer = TIME_restart_msTimer(&can_Rx_Supervise_Timer,
  		                                            TIMEOUT_CAN_RX_ms,
  							                                  timeout_CAN_cmd_rx, 0);
  #endif // WITH_TIME
  
  i = 0;
  while (i < pCANframe->dlc)
  {
    rx_char = pCANframe->data[i++];
    
    if (rx_char == '\n')
    {
      if (can_rx_byte_cnt > 0)
      {
        #ifdef WITH_TIME
		TIME_stop_msTimer(&can_Rx_Supervise_Timer);
        #endif // WITH_TIME
        aCAN_CMD_RxBuffer[can_rx_byte_cnt] = '\0'; // insert nullterminator for string manipulations
        if (analyze_command(SRC_CAN, &aCAN_CMD_RxBuffer[0], &respString[0]) == TRUE)
        {
          CAN_SendString((PINT8) &respString[0], 0);
        }
        #ifdef WITH_CAN
        	clear_CAN_cmd_rx_buffer(); // prepare buffer for next command
        #endif // WITH_CAN
      }
      continue;
    }
     
      // only alphanumeric character allowed eud ASCII
      if (isalnum((INT8) rx_char) || rx_char == '/' || rx_char == '#')
      {
          aCAN_CMD_RxBuffer[can_rx_byte_cnt++] = rx_char;
        
          // if too much characters then something wrong -> clear buffer
          if (can_rx_byte_cnt >= CAN_RX_CMD_SIZE)
          {
            #ifdef WITH_CAN
            	clear_CAN_cmd_rx_buffer();
            #endif // WITH_CAN
          }
      }
      else
      { // unknown character -> look next character
          continue;
      }
  } // end while (len-- > 0)


  if (can_rx_byte_cnt > 0 && aCAN_CMD_RxBuffer[0] == '#')
  {
    #ifdef WITH_TIME
      TIME_stop_msTimer(&can_Rx_Supervise_Timer);
    #endif // WITH_TIME
    aCAN_CMD_RxBuffer[can_rx_byte_cnt] = '\0'; // insert nullterminator for string manipulations
    if (analyze_command(SRC_CAN, &aCAN_CMD_RxBuffer[0], &respString[0]) == TRUE)
    {
      CAN_SendString((PINT8) &respString[0], 0);
    }
    #ifdef WITH_CAN
    	clear_CAN_cmd_rx_buffer(); // prepare buffer for next command
    #endif // WITH_CAN
}

} // End of MAIN_CANreceiveData()
#endif // WITH_CAN