void DOCAN()
{
if (!digitalRead(CAN0_INT))
CAN.readMsgBuf(&canId, &len, buf);
MODE = buf[1];
PID = buf[2];
if (MODE == 1)
ProcessMode1(PID);
}
else if (MODE == 3)
ProcessMode3();
else if (MODE == 4)
//ProcessMode4();
else if (MODE == 9)
//ProcessMode9();