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From Round Madrill, 5 Years ago, written in Plain Text.
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  1.     for (uint8_t i = 0; i < 16; i++)
  2.     {
  3.         while (!(CANSTMOB & _BV(TXOK)))
  4.             ;
  5.  
  6.         while (CANGSTA & _BV(TXBSY))
  7.             ;
  8.  
  9.         while (CANGSTA & _BV(RXBSY))
  10.             ;
  11.  
  12.         while (ENMOB2 & _BV(0))
  13.             ;
  14.     }