void canTx(st_cmd_t* cmd) {
    switch (cmd->status) {
    case MOB_TX_COMPLETED:
    case STATUS_CLEARED:
        break;

    default:
        Serial.print(F("CAN TX error: "));
        Serial.println(cmd->status);
        break;
    }

    /* Send to CAN */
    cmd->ctrl.rtr = 0;                  // Set rtr bit
    cmd->cmd = CMD_TX_DATA;
    // The command will not be accepted if no free MObs.
    // cmd->status = MOB_NOT_REACHED, and we will retry next time
    if (can_cmd(cmd) != CAN_CMD_ACCEPTED) {
        Serial.println(F("CAN TX command refused"));
    }
}

        switch (can_get_status(&NmtTX)) {
        case CAN_STATUS_COMPLETED:
        case CAN_STATUS_ERROR:
            canTx(&NmtTX);
        }