int MCP_init(){
//Start SPI driver
SPI_init();
//Reset MPC to enter configuration mode
MCP_reset();
// Self-test
uint8_t value = MCP_read(MCP_CANSTAT);
if ((value & MODE_MASK) != MODE_CONFIG) {
return 1;
}
return 0;
}
void CAN_init()
{
printf("CAN is initializing\n\r");
CAN_interuptInit();
MCP_reset();
MCP_write(CANINTE, (1<<RX0IE)|(1<<RX1IE)); //only interupt on RX
MCP_write(CANINTF, 0x00);
CAN_initRecieve();
CAN_modeSelect(NORMAL_MODE);
printf("CAN initialization is complete \n\r");
}