can2515.h

#ifndef CAN2515_H

#define CAN2515_H

#include "spi.h"

#include <util/delay.h>

#include <math.h>

#include <stdlib.h>

#include "regs.h"

#include <avr/io.h>

#define MESSAGE_IN_BUFFER_0 0

#define MESSAGE_IN_BUFFER_1 1

#define NO_MESSAGE 2

#define RTR_MESSAGE 3

// Message Identifier

//CAN Bootloader

#define FLASH_REQUEST 0

#define FLASH_REQUEST_CONFIRM 1

#define FLASH_REQUEST_DENY 2

#define FLASH_DATA_CLEAR_TO_SEND 3

#define FLASH_COMPLETE 4

#define FLASH_COMPLETE_CONFIRM 6

#define FLASH_DATA 5

#define BOOTLOADER_MESSAGE 7

#define BOOTLOADER_MESSAGE_CLEAR_TO_SEND 8

typedef struct {

    uint16_t id;

    char data[8];

    uint8_t length;

    uint8_t rtr;

} Message;

void controller_reset();

void controller_normal_mode();

void init_receiver();

void init_transmitter();

void init_bittiming();

uint8_t handle_interrupt(Message *message);

void get_message_from_buffer(uint8_t buffer, Message * message);

void write_message_to_can(uint16_t id, uint8_t length, char *data);

char *byte_as_bits(int length, uint16_t val);

#endif