Revision 0:d8f50b1e384f, committed 2010-01-30

Comitter:

tecnosys

Date:

Sat Jan 30 08:46:04 2010 +0000

Child:

1:dbc44582f2f8

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Sat Jan 30 08:46:04 2010 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/49a220cc26e0

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mcp2515.cpp	Sat Jan 30 08:46:04 2010 +0000
@@ -0,0 +1,452 @@
+/******************************************************************************
+ * 
+ * Controller Area Network (CAN) Demo-Application
+ * Atmel AVR with Microchip MCP2515 
+ * 
+ * Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany
+ * <eversmith@heizung-thomas.de>
+ * http://www.siwawi.arubi.uni-kl.de/avr_projects
+ *
+ *****************************************************************************
+ *
+ * File    : mcp2515.c
+ * Version : 0.9
+ * 
+ * Summary : MCP2515 "low-level" driver
+ *
+ * Parts of this code are adapted from a MCP2510 sample-application 
+ * by KVASER AB, http://www.kvaser.com (KVASER-code is marked as free)
+ *
+ * This code-module is free to use but you have to keep the copyright
+ * notice.
+ *
+ *
+ *****************************************************************************
+ *
+ * File    : mcp2515.cpp (mbed LPC1768 version)
+ * Version : 0.1
+ *
+ * All credits to the nerds above, this source has been adapted for the 
+ * LPC1768 platform by J.Engelman. And does'nt require and of the copyrighted
+ * SPI or AVR controller code that Martin or co have excluded copyright.
+ * This module remains free.
+ *
+ *
+ *****************************************************************************/
+
+#include "mcp2515.h"
+
+#include <mbed.h>
+#include "mcp2515_can.h"
+#include "mcp2515_defs.h"
+#include "mcp2515_bittime.h"
+
+#define SPI_NULL (0x00)
+
+
+
+mcp2515::mcp2515(PinName mosi, PinName miso, PinName clk, PinName ncs)
+        : _spi(mosi, miso, clk), _ncs(ncs) {
+
+     // _spi.format(8,0);
+     // _spi.frequency(10000000);
+    //_spi.frequency(5000000);
+
+}
+
+
+void mcp2515::_reset() {
+
+    _select();
+    _spi_readwrite(MCP_RESET);
+    _deselect();
+    wait(0.001);
+}
+
+void mcp2515::setRegister(const uint8_t address, const uint8_t value)
+{
+    _select();
+    _spi_readwrite(MCP_WRITE);
+    _spi_readwrite(address);
+    _spi_readwrite(value);
+    _deselect();
+}
+
+uint8_t mcp2515::configRate(const uint8_t canSpeed)
+{
+    uint8_t set, cfg1, cfg2, cfg3;
+    
+    set = 0;
+    
+    switch (canSpeed) {
+        case (CAN_125KBPS) :
+            cfg1 = MCP_4MHz_125kBPS_CFG1 ;
+            cfg2 = MCP_4MHz_125kBPS_CFG2 ;
+            cfg3 = MCP_4MHz_125kBPS_CFG3 ;
+            set = 1;
+            break;
+        case (CAN_20KBPS) :
+            cfg1 = MCP_4MHz_20kBPS_CFG1 ;
+            cfg2 = MCP_4MHz_20kBPS_CFG2 ;
+            cfg3 = MCP_4MHz_20kBPS_CFG3 ;
+            set = 1;
+            break;
+        default:
+            set = 0;
+            break;
+    }
+    
+    if (set) {
+        setRegister(MCP_CNF1, cfg1);
+        setRegister(MCP_CNF2, cfg2);
+        setRegister(MCP_CNF3, cfg3);
+        return MCP2515_OK;
+    }
+    else {
+        return MCP2515_FAIL;
+    }
+} 
+
+uint8_t mcp2515::readRegister(const uint8_t address)
+{
+    uint8_t ret;
+    
+    _select();
+    _spi_readwrite(MCP_READ);
+    _spi_readwrite(address);
+    ret = _spi_read();
+    _deselect();
+    
+    return ret;
+}
+
+void mcp2515::readRegisterS(const uint8_t address, 
+    uint8_t values[], const uint8_t n)
+{
+    uint8_t i;
+    
+    _select();
+    _spi_readwrite(MCP_READ);
+    _spi_readwrite(address);
+    // mcp2515 has auto-increment of address-pointer
+    for (i=0; i<n; i++) {
+        values[i] = _spi_read();
+    }
+    _deselect();
+}
+
+void mcp2515::modifyRegister(const uint8_t address, 
+    const uint8_t mask, const uint8_t data)
+{
+    _select();
+    _spi_readwrite(MCP_BITMOD);
+    _spi_readwrite(address);
+    _spi_readwrite(mask);
+    _spi_readwrite(data);
+    _deselect();
+}
+
+
+uint8_t mcp2515::readXXStatus_helper(const uint8_t cmd)
+{
+    uint8_t i;
+    
+    _select();
+    _spi_readwrite(cmd);
+    i = _spi_read();
+    _deselect();
+    
+    return i;
+}
+    
+uint8_t mcp2515::readStatus(void)
+{
+    return readXXStatus_helper(MCP_READ_STATUS);
+}
+
+uint8_t mcp2515::RXStatus(void)
+{
+    return readXXStatus_helper(MCP_RX_STATUS);
+}
+
+// read-modify-write - better: Bit Modify Instruction
+uint8_t mcp2515::setCANCTRL_Mode(uint8_t newmode)
+{
+    uint8_t i;
+    
+    i = readRegister(MCP_CANCTRL);
+    i &= ~(MODE_MASK);
+    i |= newmode;
+    setRegister(MCP_CANCTRL, i);
+    
+    // verify as advised in datasheet
+    i = readRegister(MCP_CANCTRL);
+    i &= MODE_MASK;
+    if ( i == newmode ) {
+        return MCP2515_OK; 
+    }
+    else {
+        return MCP2515_FAIL;
+    }
+}
+
+
+void mcp2515::setRegisterS(const uint8_t address, 
+    const uint8_t values[], const uint8_t n)
+{
+    uint8_t i;
+    
+    _select();
+    _spi_readwrite(MCP_WRITE);
+    _spi_readwrite(address);
+    // mcp2515 has auto-increment of address-pointer
+    for (i=0; i<n; i++) {
+        _spi_readwrite(values[i]);
+    }
+    _deselect();
+}
+
+void mcp2515::read_can_id( const uint8_t mcp_addr, 
+    uint8_t* ext, uint32_t* can_id )
+{
+    uint8_t tbufdata[4];
+    
+    *ext = 0;
+    *can_id = 0;
+    
+    readRegisterS( mcp_addr, tbufdata, 4 );
+    
+    *can_id = (tbufdata[MCP_SIDH]<<3) + (tbufdata[MCP_SIDL]>>5);
+    
+    if ( (tbufdata[MCP_SIDL] & MCP_TXB_EXIDE_M) ==  MCP_TXB_EXIDE_M ) {
+        // extended id
+        *can_id = (*can_id<<2) + (tbufdata[MCP_SIDL] & 0x03);
+        *can_id <<= 16;
+        *can_id = *can_id +(tbufdata[MCP_EID8]<<8) + tbufdata[MCP_EID0];
+        *ext = 1;
+    }
+}
+
+
+// Buffer can be MCP_RXBUF_0 or MCP_RXBUF_1
+void mcp2515::read_canMsg( const uint8_t buffer_sidh_addr,
+    CANMessage* msg)
+{
+/*
+    uint8_t mcp_addr, ctrl;
+
+    mcp_addr = buffer_sidh_addr;
+    
+    read_can_id( mcp_addr, &(msg->extended_identifier), 
+        &(msg->identifier) );
+    
+    ctrl = readRegister( mcp_addr-1 );
+    msg->dlc = readRegister( mcp_addr+4 );
+    
+    //if ((*dlc & RTR_MASK) || (ctrl & 0x08)) {
+    if ((ctrl & 0x08)) {
+        msg->rtr = 1;
+    } else {
+        msg->rtr = 0;
+    }
+    
+    msg->dlc &= MCP_DLC_MASK;
+    readRegisterS( mcp_addr+5, &(msg->dta[0]), msg->dlc );
+    */
+}
+
+
+void mcp2515::write_can_id( const uint8_t mcp_addr, 
+    const uint8_t ext, const uint32_t can_id )
+{
+    uint16_t canid;
+    uint8_t tbufdata[4];
+    
+    canid = (uint16_t)(can_id & 0x0FFFF);
+    
+    if ( ext == 1) {
+        tbufdata[MCP_EID0] = (uint8_t) (canid & 0xFF);
+        tbufdata[MCP_EID8] = (uint8_t) (canid / 256);
+        canid = (uint16_t)( can_id / 0x10000L );
+        tbufdata[MCP_SIDL] = (uint8_t) (canid & 0x03);
+        tbufdata[MCP_SIDL] += (uint8_t) ((canid & 0x1C )*8);
+        tbufdata[MCP_SIDL] |= MCP_TXB_EXIDE_M;
+        tbufdata[MCP_SIDH] = (uint8_t) (canid / 32 );
+    }
+    else {
+        tbufdata[MCP_SIDH] = (uint8_t) (canid / 8 );
+        tbufdata[MCP_SIDL] = (uint8_t) ((canid & 0x07 )*32);
+        tbufdata[MCP_EID0] = 0;
+        tbufdata[MCP_EID8] = 0;
+    }
+    setRegisterS( mcp_addr, tbufdata, 4 );
+}
+
+// Buffer can be MCP_TXBUF_0 MCP_TXBUF_1 or MCP_TXBUF_2
+void mcp2515::write_canMsg( const uint8_t buffer_sidh_addr, 
+     CANMessage* msg)
+{
+    uint8_t mcp_addr, dlc;
+
+    mcp_addr = buffer_sidh_addr;
+    dlc = msg->len;
+    
+    setRegisterS(mcp_addr+5, &(msg->data[0]), dlc );  // write data bytes
+    write_can_id( mcp_addr, msg->format,
+        msg->id );  // write CAN id
+    if ( msg->type == 1)  dlc |= MCP_RTR_MASK;  // if RTR set bit in byte
+    setRegister( (mcp_addr+4), dlc );  // write the RTR and DLC
+}
+
+void mcp2515::start_transmit(const uint8_t buffer_sidh_addr)
+{
+	// TXBnCTRL_addr = TXBnSIDH_addr - 1
+   modifyRegister( buffer_sidh_addr-1 , MCP_TXB_TXREQ_M, 
+		MCP_TXB_TXREQ_M );
+}
+
+uint8_t mcp2515::getNextFreeTXBuf(uint8_t *txbuf_n)
+{
+	uint8_t res, i, ctrlval;
+	uint8_t ctrlregs[MCP_N_TXBUFFERS] = { MCP_TXB0CTRL, MCP_TXB1CTRL, MCP_TXB2CTRL };
+	
+	res = MCP_ALLTXBUSY;
+	*txbuf_n = 0x00;
+	
+	// check all 3 TX-Buffers
+	for (i=0; i<MCP_N_TXBUFFERS; i++) {
+		ctrlval = readRegister( ctrlregs[i] );
+		if ( (ctrlval & MCP_TXB_TXREQ_M) == 0 ) {
+
+			*txbuf_n = ctrlregs[i]+1; // return SIDH-address of Buffer
+			res = MCP2515_OK;
+			return res; /* ! function exit */
+		}
+	}
+	
+	return res;
+}
+
+void mcp2515::initCANBuffers(void)
+{
+    uint8_t i, a1, a2, a3;
+    
+    // TODO: check why this is needed to receive extended 
+    //   and standard frames
+    // Mark all filter bits as don't care:
+    write_can_id(MCP_RXM0SIDH, 0, 0);
+    write_can_id(MCP_RXM1SIDH, 0, 0);
+    // Anyway, set all filters to 0:
+    write_can_id(MCP_RXF0SIDH, 1, 0); // RXB0: extended 
+    write_can_id(MCP_RXF1SIDH, 0, 0); //       AND standard
+    write_can_id(MCP_RXF2SIDH, 1, 0); // RXB1: extended 
+    write_can_id(MCP_RXF3SIDH, 0, 0); //       AND standard
+    write_can_id(MCP_RXF4SIDH, 0, 0);
+    write_can_id(MCP_RXF5SIDH, 0, 0);
+    
+    // Clear, deactivate the three transmit buffers
+    // TXBnCTRL -> TXBnD7
+    a1 = MCP_TXB0CTRL;
+    a2 = MCP_TXB1CTRL;
+    a3 = MCP_TXB2CTRL;
+    for (i = 0; i < 14; i++) { // in-buffer loop
+        setRegister(a1, 0);
+        setRegister(a2, 0);
+        setRegister(a3, 0);
+        a1++;
+        a2++;
+        a3++;
+    }
+    
+    // and clear, deactivate the two receive buffers.
+    setRegister(MCP_RXB0CTRL, 0);
+    setRegister(MCP_RXB1CTRL, 0);
+}
+
+uint8_t mcp2515::init(const uint8_t canSpeed)
+{
+    uint8_t res;
+    
+    _deselect();
+    //MCP_CS_DDR |= ( 1 << MCP_CS_BIT );
+    
+    _reset();
+    
+    res = setCANCTRL_Mode(MODE_CONFIG);
+    
+    if ( res == MCP2515_FAIL ){
+     printf("FAIL here");
+     return res;  /* function exit on error */
+    }
+    res = configRate(canSpeed);
+    
+    if ( res == MCP2515_OK ) {
+        initCANBuffers();
+        
+
+        // enable both receive-buffers to receive messages
+        // with std. and ext. identifiers
+        // and enable rollover
+        modifyRegister(MCP_RXB0CTRL, 
+            MCP_RXB_RX_MASK | MCP_RXB_BUKT_MASK, 
+            MCP_RXB_RX_STDEXT | MCP_RXB_BUKT_MASK );
+        modifyRegister(MCP_RXB1CTRL, MCP_RXB_RX_MASK, 
+            MCP_RXB_RX_STDEXT);
+
+    }
+    
+    return res;
+}
+
+/*
+ * Select function
+ */
+ 
+void mcp2515::_select() {
+//printf("{");
+    _ncs = 0;
+}
+
+
+/*
+ * Deselect function
+ */
+
+void mcp2515::_deselect() {
+    _ncs = 1;
+//printf("}");
+}
+
+int mcp2515::status() {
+    int status = 0;
+    _select();
+    _spi.write(0xd7);
+    status = (_spi.write(0x00) << 8 );
+    status |= _spi.write(0x00);
+    _deselect();
+    return status;
+}
+
+void mcp2515::_pollbusy() {
+    volatile int busy = 1;
+    while (busy) {
+        // if bit 7 is set, we can proceed
+        if ( status() & 0x80 ) {
+            busy = 0;
+        }
+    }
+}
+
+
+uint8_t mcp2515::_spi_readwrite(uint8_t data)
+{
+     //printf("W0x%x ", data);
+      uint8_t ret = _spi.write(data);
+       //     printf("R0x%x,", ret);
+    return ret;
+}
+
+uint8_t mcp2515::_spi_read(void)
+{
+    return _spi_readwrite(SPI_NULL);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mcp2515.h	Sat Jan 30 08:46:04 2010 +0000
@@ -0,0 +1,106 @@
+
+#ifndef _MCP2515_H_
+#define _MCP2515_H_
+
+#include <mbed.h>
+#include "mcp2515_defs.h"
+
+#define MCPDEBUG (1)
+#define MCPDEBUG_TXBUF (0)
+
+#define MCP_CS_PORT PORTB
+#define MCP_CS_DDR  DDRB
+#define MCP_CS_BIT  PB0
+
+#define MCP_N_TXBUFFERS (3)
+
+#define MCP_RXBUF_0 (MCP_RXB0SIDH)
+#define MCP_RXBUF_1 (MCP_RXB1SIDH)
+
+#define MCP_TXBUF_0 (MCP_TXB0SIDH)
+#define MCP_TXBUF_1 (MCP_TXB1SIDH)
+#define MCP_TXBUF_2 (MCP_TXB2SIDH)
+
+// #define MCP2515_SELECT() (SPI_SS_LOW())
+// #define MCP2515_UNSELECT() (SPI_SS_HIGH())
+
+#define MCP2515_SELECT()   ( MCP_CS_PORT &= ~(1<<MCP_CS_BIT) )
+#define MCP2515_UNSELECT() ( MCP_CS_PORT |=  (1<<MCP_CS_BIT) )
+
+#define MCP2515_OK         (0)
+#define MCP2515_FAIL       (1)
+#define MCP_ALLTXBUSY      (2)
+
+typedef unsigned char u8;
+
+// Connections to the chip
+//volatile bit mcp2515_rst @ PORTC . 1;
+//volatile bit mcp2515_rst_tris @ TRISC . 1;
+
+// Function declarations
+/*
+void can_reset();
+char can_read_register(char reg);
+void can_write_bits(char address, char data, char mask);
+void can_init(short id);
+char can_peek_message();
+char can_rx_byte();
+void can_set_id(short id); 
+void can_init_buffer();
+void can_load_byte(char input);
+void can_tx_buffer();
+void can_read_status();
+*/
+
+#include "mbed.h"
+#include "SPI.h"
+        class mcp2515  {
+        public:
+            mcp2515(PinName mosi, PinName miso, PinName clk, PinName ncs);
+           // float read (void);
+           // void setThigh (float);
+           // void setTlow (float);
+           // float getThigh (void);
+           // float getTlow (void);
+            virtual void _reset();
+            uint8_t configRate(const uint8_t canSpeed);
+            void    setRegister(const uint8_t address, const uint8_t value);
+            
+            uint8_t readRegister(const uint8_t address);
+            void    modifyRegister(const uint8_t address, const uint8_t mask, const uint8_t data);
+            uint8_t setCANCTRL_Mode(uint8_t newmode);
+            uint8_t init(const uint8_t canSpeed);
+            void    initCANBuffers(void);
+            void    setRegisterS(const uint8_t address, const uint8_t values[], const uint8_t n);
+            void    write_can_id( const uint8_t mcp_addr, const uint8_t ext, const uint32_t can_id );
+            //
+            
+            void    readRegisterS(const uint8_t address, uint8_t values[], const uint8_t n);
+            uint8_t readXXStatus_helper(const uint8_t cmd);
+            uint8_t readStatus(void);
+            uint8_t RXStatus(void);
+
+            void read_can_id( const uint8_t mcp_addr, uint8_t* ext, uint32_t* can_id );
+            void read_canMsg( const uint8_t buffer_sidh_addr, CANMessage* msg);
+            void write_canMsg( const uint8_t buffer_sidh_addr,  CANMessage* msg);
+    
+            uint8_t getNextFreeTXBuf(uint8_t *txbuf_n);
+    
+            void start_transmit(const uint8_t buffer_sidh_addr);
+            
+            SPI _spi;
+            DigitalOut _ncs;   
+        // Private functions
+        private :   
+            void _select (void);               
+            void _deselect (void);       
+            int status();
+           void _pollbusy() ;
+           
+            uint8_t _spi_readwrite(uint8_t data);
+            uint8_t _spi_read(void);
+         
+           
+        };
+
+#endif // _MCP2515_H_

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mcp2515_bittime.h	Sat Jan 30 08:46:04 2010 +0000
@@ -0,0 +1,125 @@
+/******************************************************************************
+ * 
+ * Controller Area Network (CAN) Demo-Application
+ * Atmel AVR with Microchip MCP2515 
+ * 
+ * Copyright (C) 2005 Martin THOMAS, Kaiserslautern, Germany
+ * <eversmith@heizung-thomas.de>
+ * http://www.siwawi.arubi.uni-kl.de/avr_projects
+ *
+ *****************************************************************************
+ *
+ * File    : mcp2515_bittime.h
+ * Version : 0.9
+ * 
+ * Summary : MCP2515 CAN-timing values. Calculated with 
+ *           a spreadsheet-based "Preprocessor" with information
+ *           from the MCP2515 and AT90CAN128 datasheets.
+ *
+ *****************************************************************************/
+
+#include "mcp2515_defs.h"
+
+/*-----------------------*/
+/* global settings       */
+/*-----------------------*/
+
+/* CFG3 */
+
+// Start of Frame SOF (CLKOUT)
+// either SOF_ENABLE or SOF_DISABLE
+#define MCP_GENERAL_SOF (SOF_DISABLE)
+
+// Wake up Filter (WAKFIL)
+// either WAKFIL_ENABLE    or WAKFIL_DISABLE
+#define MCP_GENERAL_WAKFIL (WAKFIL_DISABLE)
+
+
+/*-----------------------*/
+/* 125 kBPS @ 4MHZ F_OSC */
+/*-----------------------*/
+
+/* CNF1 */
+
+// SJW as defined in mcp_defs.h
+// here: SJW = 1*TQ
+#define MCP_4MHz_125kBPS_SJW (SJW1)
+
+// Prescaler = (BRP+1)*2
+// here Prescaler = 4 -> BRP=1
+#define MCP_4MHz_125kBPS_BRP (1)
+
+
+/* CNF2 */
+
+// BLT-Mode defined in CNF3 (0 or BTLMODE from mcp_defs.h)
+#define MCP_4MHz_125kBPS_BLTMODE (BTLMODE)
+
+// 3 samples (SAMPLE_3X) or 1 sample (SAMPLE_1X)
+#define MCP_4MHz_125kBPS_SAM   (SAMPLE_1X)
+
+// (Phase Segment 1) PHSEG1 = PS1 - 1
+// here: PS1 calculated as 2 
+#define MCP_4MHz_125kBPS_PHSEG1 ((2-1)<<3)
+
+// (Propagation Delay) PRSEG = PRSEQTQ-1
+// here PRSEQTQ = 2
+#define MCP_4MHz_125kBPS_PRSEG (2-1)
+
+/* CNF3 */
+
+// (Phase Segment 2) PHSEG2 = PS2 - 1
+// here: PS2 calculated as 3
+#define MCP_4MHz_125kBPS_PHSEG (3-1)
+
+
+#define MCP_4MHz_125kBPS_CFG1 (MCP_4MHz_125kBPS_SJW | MCP_4MHz_125kBPS_BRP)
+#define MCP_4MHz_125kBPS_CFG2 (MCP_4MHz_125kBPS_BLTMODE | MCP_4MHz_125kBPS_SAM | \
+                MCP_4MHz_125kBPS_PHSEG1 | MCP_4MHz_125kBPS_PRSEG)
+#define MCP_4MHz_125kBPS_CFG3 (MCP_GENERAL_SOF | MCP_GENERAL_WAKFIL | \
+                MCP_4MHz_125kBPS_PHSEG)
+
+
+/*-----------------------*/
+/* 20 kBPS @ 4MHZ F_OSC  */
+/*-----------------------*/
+
+/* CNF1 */
+
+// SJW as defined in mcp_defs.h
+// here: SJW = 1*TQ
+#define MCP_4MHz_20kBPS_SJW (SJW1)
+
+// Prescaler = (BRP+1)*2
+// here Prescaler = 10 -> BRP=4  (20TQ)
+#define MCP_4MHz_20kBPS_BRP (4)
+
+
+/* CNF2 */
+
+// BLT-Mode defined in CNF3 (0 or BTLMODE from mcp_defs.h)
+#define MCP_4MHz_20kBPS_BLTMODE (BTLMODE)
+
+// 3 samples (SAMPLE_1X) or 1 sample (SAMPLE_1X)
+#define MCP_4MHz_20kBPS_SAM   (SAMPLE_1X)
+
+// (Phase Segment 1) PHSEG1 = PS1 - 1
+// here: PS1 calculated as 8
+#define MCP_4MHz_20kBPS_PHSEG1 ((8-1)<<3)
+
+// (Propagation Delay) PRSEG = PRSEQTQ-1
+// here PRSEQTQ = 3
+#define MCP_4MHz_20kBPS_PRSEG (3-1)
+
+/* CNF3 */
+
+// (Phase Segment 2) PHSEG2 = PS2 - 1
+// here: PS2 calculated as 8
+#define MCP_4MHz_20kBPS_PHSEG (8-1)
+
+
+#define MCP_4MHz_20kBPS_CFG1 (MCP_4MHz_20kBPS_SJW | MCP_4MHz_20kBPS_BRP)
+#define MCP_4MHz_20kBPS_CFG2 (MCP_4MHz_20kBPS_BLTMODE | MCP_4MHz_20kBPS_SAM | \
+                MCP_4MHz_20kBPS_PHSEG1 | MCP_4MHz_20kBPS_PRSEG)
+#define MCP_4MHz_20kBPS_CFG3 (MCP_GENERAL_SOF | MCP_GENERAL_WAKFIL | \
+                MCP_4MHz_20kBPS_PHSEG)

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mcp2515_can.h	Sat Jan 30 08:46:04 2010 +0000
@@ -0,0 +1,35 @@
+#ifndef MCP2515_CAN_H_
+#define MCP2515_CAN_H_
+
+#define CANDEBUG   1
+
+#define CANUSELOOP 0
+
+#define CANSENDTIMEOUT (200) /* milliseconds */
+
+// initial value of gCANAutoProcess
+#define CANAUTOPROCESS (1)
+#define CANAUTOON  (1)
+#define CANAUTOOFF (0)
+
+#define CAN_STDID (0)
+#define CAN_EXTID (1)
+
+#define CANDEFAULTIDENT    (0x55CC)
+#define CANDEFAULTIDENTEXT (CAN_EXTID)
+
+#define CAN_20KBPS   (1)
+#define CAN_125KBPS  (CAN_20KBPS+1)
+
+#define CAN_OK         (0)
+#define CAN_FAILINIT   (1)
+#define CAN_FAILTX     (2)
+#define CAN_MSGAVAIL   (3)
+#define CAN_NOMSG      (4)
+#define CAN_CTRLERROR  (5)
+#define CAN_FAIL       (0xff)
+
+#define CAN_MAX_CHAR_IN_MESSAGE (8)
+
+
+#endif
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mcp2515_defs.h	Sat Jan 30 08:46:04 2010 +0000
@@ -0,0 +1,215 @@
+/* from Microchip Example */
+
+#ifndef MCP2515_DEFS_H_
+#define MCP2515_DEFS_H_
+
+/*
+mcp2515_defs.h
+
+This file contains constants that are specific to the MCP2515.
+
+Version     Date        Description
+----------------------------------------------------------------------
+v1.00       2003/12/11  Initial release
+Copyright 2003 Kimberly Otten Software Consulting
+
+Changes M. Thomas:
+- rename to mcp2515_defs.h
+- added handy definitions from kvaser-sample
+- status-bits
+
+*/
+
+// Begin mt
+#define MCP_SIDH        0
+#define MCP_SIDL        1
+#define MCP_EID8        2
+#define MCP_EID0        3
+
+#define MCP_TXB_EXIDE_M     0x08    /* In TXBnSIDL */
+#define MCP_DLC_MASK        0x0F    /* 4 LSBits */
+#define MCP_RTR_MASK        0x40    /* (1<<6) Bit 6 */
+
+#define MCP_RXB_RX_ANY      0x60
+#define MCP_RXB_RX_EXT      0x40
+#define MCP_RXB_RX_STD      0x20
+#define MCP_RXB_RX_STDEXT   0x00
+#define MCP_RXB_RX_MASK     0x60
+#define MCP_RXB_BUKT_MASK   (1<<2)
+
+/*
+** Bits in the TXBnCTRL registers.
+*/
+#define MCP_TXB_TXBUFE_M    0x80
+#define MCP_TXB_ABTF_M      0x40
+#define MCP_TXB_MLOA_M      0x20
+#define MCP_TXB_TXERR_M     0x10
+#define MCP_TXB_TXREQ_M     0x08
+#define MCP_TXB_TXIE_M      0x04
+#define MCP_TXB_TXP10_M     0x03
+
+#define MCP_TXB_RTR_M       0x40    // In TXBnDLC
+#define MCP_RXB_IDE_M       0x08    // In RXBnSIDL
+#define MCP_RXB_RTR_M       0x40    // In RXBnDLC
+
+#define MCP_STAT_RXIF_MASK   (0x03)
+#define MCP_STAT_RX0IF (1<<0)
+#define MCP_STAT_RX1IF (1<<1)
+
+#define MCP_EFLG_RX1OVR (1<<7)
+#define MCP_EFLG_RX0OVR (1<<6)
+#define MCP_EFLG_TXBO   (1<<5)
+#define MCP_EFLG_TXEP   (1<<4)
+#define MCP_EFLG_RXEP   (1<<3)
+#define MCP_EFLG_TXWAR  (1<<2)
+#define MCP_EFLG_RXWAR  (1<<1)
+#define MCP_EFLG_EWARN  (1<<0)
+#define MCP_EFLG_ERRORMASK  (0xF8) /* 5 MS-Bits */
+
+// End mt
+
+
+// Define MCP2515 register addresses
+
+#define MCP_RXF0SIDH	0x00
+#define MCP_RXF0SIDL	0x01
+#define MCP_RXF0EID8	0x02
+#define MCP_RXF0EID0	0x03
+#define MCP_RXF1SIDH	0x04
+#define MCP_RXF1SIDL	0x05
+#define MCP_RXF1EID8	0x06
+#define MCP_RXF1EID0	0x07
+#define MCP_RXF2SIDH	0x08
+#define MCP_RXF2SIDL	0x09
+#define MCP_RXF2EID8	0x0A
+#define MCP_RXF2EID0	0x0B
+#define MCP_CANSTAT		0x0E
+#define MCP_CANCTRL		0x0F
+#define MCP_RXF3SIDH	0x10
+#define MCP_RXF3SIDL	0x11
+#define MCP_RXF3EID8	0x12
+#define MCP_RXF3EID0	0x13
+#define MCP_RXF4SIDH	0x14
+#define MCP_RXF4SIDL	0x15
+#define MCP_RXF4EID8	0x16
+#define MCP_RXF4EID0	0x17
+#define MCP_RXF5SIDH	0x18
+#define MCP_RXF5SIDL	0x19
+#define MCP_RXF5EID8	0x1A
+#define MCP_RXF5EID0	0x1B
+#define MCP_TEC			0x1C
+#define MCP_REC			0x1D
+#define MCP_RXM0SIDH	0x20
+#define MCP_RXM0SIDL	0x21
+#define MCP_RXM0EID8	0x22
+#define MCP_RXM0EID0	0x23
+#define MCP_RXM1SIDH	0x24
+#define MCP_RXM1SIDL	0x25
+#define MCP_RXM1EID8	0x26
+#define MCP_RXM1EID0	0x27
+#define MCP_CNF3		0x28
+#define MCP_CNF2		0x29
+#define MCP_CNF1		0x2A
+#define MCP_CANINTE		0x2B
+#define MCP_CANINTF		0x2C
+#define MCP_EFLG		0x2D
+#define MCP_TXB0CTRL	0x30
+#define MCP_TXB1CTRL	0x40
+#define MCP_TXB2CTRL	0x50
+#define MCP_RXB0CTRL	0x60
+#define MCP_RXB0SIDH	0x61
+#define MCP_RXB1CTRL	0x70
+#define MCP_RXB1SIDH	0x71
+
+
+#define MCP_TX_INT		0x1C		// Enable all transmit interrupts
+#define MCP_TX01_INT	0x0C		// Enable TXB0 and TXB1 interrupts
+#define MCP_RX_INT		0x03		// Enable receive interrupts
+#define MCP_NO_INT		0x00		// Disable all interrupts
+
+#define MCP_TX01_MASK	0x14
+#define MCP_TX_MASK		0x54
+
+// Define SPI Instruction Set
+
+#define MCP_WRITE		0x02
+
+#define MCP_READ		0x03
+
+#define MCP_BITMOD		0x05
+
+#define MCP_LOAD_TX0	0x40
+#define MCP_LOAD_TX1	0x42
+#define MCP_LOAD_TX2	0x44
+
+#define MCP_RTS_TX0		0x81
+#define MCP_RTS_TX1		0x82
+#define MCP_RTS_TX2		0x84
+#define MCP_RTS_ALL		0x87
+
+#define MCP_READ_RX0	0x90
+#define MCP_READ_RX1	0x94
+
+#define MCP_READ_STATUS	0xA0
+
+#define MCP_RX_STATUS	0xB0
+
+#define MCP_RESET		0xC0
+
+
+// CANCTRL Register Values
+
+#define MODE_NORMAL     0x00
+#define MODE_SLEEP      0x20
+#define MODE_LOOPBACK   0x40
+#define MODE_LISTENONLY 0x60
+#define MODE_CONFIG     0x80
+#define MODE_POWERUP	0xE0
+#define MODE_MASK		0xE0
+#define ABORT_TX        0x10
+#define MODE_ONESHOT	0x08
+#define CLKOUT_ENABLE	0x04
+#define CLKOUT_DISABLE	0x00
+#define CLKOUT_PS1		0x00
+#define CLKOUT_PS2		0x01
+#define CLKOUT_PS4		0x02
+#define CLKOUT_PS8		0x03
+
+
+// CNF1 Register Values
+
+#define SJW1            0x00
+#define SJW2            0x40
+#define SJW3            0x80
+#define SJW4            0xC0
+
+
+// CNF2 Register Values
+
+#define BTLMODE			0x80
+#define SAMPLE_1X       0x00
+#define SAMPLE_3X       0x40
+
+
+// CNF3 Register Values
+
+#define SOF_ENABLE		0x80
+#define SOF_DISABLE		0x00
+#define WAKFIL_ENABLE	0x40
+#define WAKFIL_DISABLE	0x00
+
+
+// CANINTF Register Bits
+
+#define MCP_RX0IF		0x01
+#define MCP_RX1IF		0x02
+#define MCP_TX0IF		0x04
+#define MCP_TX1IF		0x08
+#define MCP_TX2IF		0x10
+#define MCP_ERRIF		0x20
+#define MCP_WAKIF		0x40
+#define MCP_MERRF		0x80
+
+
+
+#endif