e091d4df18
commitc6fd825e39Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commite7a0035041Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit4bfb1f533eAuthor: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit5683168a47Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit9c0c676be8Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commitb150a905a3Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit7eebf619aeAuthor: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit93c40e1805Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit91c2125458Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit096a6c18d6Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit48fded7981Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commitec5e5cbf13Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit58d31964b2Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0
192 lines
5.6 KiB
C++
192 lines
5.6 KiB
C++
#pragma once
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#include <stdint.h>
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#define MCP2521_BFPCTRL 0x0C
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#define MCP2521_BFPCTRL_B1BFS (1 << 5)
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#define MCP2521_BFPCTRL_B0BFS (1 << 4)
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#define MCP2521_BFPCTRL_B1BFE (1 << 3)
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#define MCP2521_BFPCTRL_B0BFE (1 << 2)
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#define MCP2521_BFPCTRL_B1BFM (1 << 1)
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#define MCP2521_BFPCTRL_B0BFM (1 << 0)
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#define MCP2521_TXRTSCTRL 0x0D
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#define MCP2521_TXRTSCTRL_B2RTS (1 << 5)
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#define MCP2521_TXRTSCTRL_B1RTS (1 << 4)
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#define MCP2521_TXRTSCTRL_B0RTS (1 << 3)
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#define MCP2521_TXRTSCTRL_B2RTSM (1 << 2)
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#define MCP2521_TXRTSCTRL_B1RTSM (1 << 1)
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#define MCP2521_TXRTSCTRL_B0RTSM (1 << 0)
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#define MCP2521_CANSTAT 0x0E
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#define MCP2521_CANSTAT_OPMOD2 (1 << 7)
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#define MCP2521_CANSTAT_OPMOD1 (1 << 6)
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#define MCP2521_CANSTAT_OPMOD0 (1 << 5)
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#define MCP2521_CANSTAT_ICOD2 (1 << 2)
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#define MCP2521_CANSTAT_ICOD1 (1 << 1)
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#define MCP2521_CANSTAT_ICOD0 (1 << 0)
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struct CANSTAT_Register {
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uint8_t ICOD : 3;
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uint8_t : 1; // Unused bit
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uint8_t OPMOD : 3;
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uint8_t : 1; // Unused bit
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};
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#define MCP2521_CANCTRL 0x0F
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#define MCP2521_CANCTRL_REQOP2 (1 << 7)
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#define MCP2521_CANCTRL_REQOP1 (1 << 6)
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#define MCP2521_CANCTRL_REQOP0 (1 << 5)
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#define MCP2521_CANCTRL_ABAT (1 << 4)
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#define MCP2521_CANCTRL_OSM (1 << 3)
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#define MCP2521_CANCTRL_CLKEN (1 << 2)
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#define MCP2521_CANCTRL_CLKPRE1 (1 << 1)
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#define MCP2521_CANCTRL_CLKPRE0 (1 << 0)
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#define MCP2521_TEC 0x1C
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#define MCP2521_REC 0x1D
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#define MCP2521_CNF3 0x28
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#define MCP2521_CNF3_SOF (1 << 7)
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#define MCP2521_CNF3_WAKFIL (1 << 6)
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#define MCP2521_CNF3_PHSEG22 (1 << 2)
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#define MCP2521_CNF3_PHSEG21 (1 << 1)
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#define MCP2521_CNF3_PHSEG20 (1 << 0)
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#define MCP2521_CNF2 0x29
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#define MCP2521_CNF2_BTLMODE (1 << 7)
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#define MCP2521_CNF2_SAM (1 << 6)
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#define MCP2521_CNF2_PHSEG12 (1 << 5)
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#define MCP2521_CNF2_PHSEG11 (1 << 4)
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#define MCP2521_CNF2_PHSEG10 (1 << 3)
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#define MCP2521_CNF2_PRSEG2 (1 << 2)
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#define MCP2521_CNF2_PRSEG1 (1 << 1)
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#define MCP2521_CNF2_PRSEG0 (1 << 0)
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#define MCP2521_CNF1 0x2A
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#define MCP2521_CNF1_SJW1 (1 << 7)
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#define MCP2521_CNF1_SJW0 (1 << 6)
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#define MCP2521_CNF1_BRP5 (1 << 5)
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#define MCP2521_CNF1_BRP4 (1 << 4)
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#define MCP2521_CNF1_BRP3 (1 << 3)
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#define MCP2521_CNF1_BRP2 (1 << 2)
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#define MCP2521_CNF1_BRP1 (1 << 1)
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#define MCP2521_CNF1_BRP0 (1 << 0)
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#define MCP2521_CANINTE 0x2B
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#define MCP2521_CANINTE_MERRE (1 << 7)
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#define MCP2521_CANINTE_WAKIE (1 << 6)
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#define MCP2521_CANINTE_ERRIE (1 << 5)
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#define MCP2521_CANINTE_TX2IE (1 << 4)
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#define MCP2521_CANINTE_TX1IE (1 << 3)
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#define MCP2521_CANINTE_TX0IE (1 << 2)
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#define MCP2521_CANINTE_RX1IE (1 << 1)
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#define MCP2521_CANINTE_RX0IE (1 << 0)
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#define MCP2521_CANINTF 0x2C
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#define MCP2521_CANINTF_MERRF (1 << 7)
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#define MCP2521_CANINTF_WAKIF (1 << 6)
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#define MCP2521_CANINTF_ERRIF (1 << 5)
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#define MCP2521_CANINTF_TX2IF (1 << 4)
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#define MCP2521_CANINTF_TX1IF (1 << 3)
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#define MCP2521_CANINTF_TX0IF (1 << 2)
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#define MCP2521_CANINTF_RX1IF (1 << 1)
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#define MCP2521_CANINTF_RX0IF (1 << 0)
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#define MCP2521_EFLG 0x2D
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#define MCP2521_EFLG_RX1OVR (1 << 7)
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#define MCP2521_EFLG_RX0OVR (1 << 6)
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#define MCP2521_EFLG_TXBO (1 << 5)
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#define MCP2521_EFLG_TXEP (1 << 4)
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#define MCP2521_EFLG_RXEP (1 << 3)
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#define MCP2521_EFLG_TXWAR (1 << 2)
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#define MCP2521_EFLG_RXWAR (1 << 1)
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#define MCP2521_EFLG_EWARN (1 << 0)
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#define MCP2521_TXB0CTRL 0x30
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#define MCP2521_TXB0CTRL_ABTF (1 << 6)
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#define MCP2521_TXB0CTRL_MLOA (1 << 5)
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#define MCP2521_TXB0CTRL_TXERR (1 << 4)
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#define MCP2521_TXB0CTRL_TXREQ (1 << 3)
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#define MCP2521_TXB0CTRL_TXP1 (1 << 1)
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#define MCP2521_TXB0CTRL_TXP0 (1 << 0)
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#define MCP2521_TXB0DLC 0x35
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#define MCP2521_TXB1DLC 0x45
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#define MCP2521_TXB2DLC 0x55
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#define MCP2521_TXB1CTRL 0x40
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#define MCP2521_TXB1CTRL_ABTF (1 << 6)
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#define MCP2521_TXB1CTRL_MLOA (1 << 5)
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#define MCP2521_TXB1CTRL_TXERR (1 << 4)
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#define MCP2521_TXB1CTRL_TXREQ (1 << 3)
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#define MCP2521_TXB1CTRL_TXP1 (1 << 1)
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#define MCP2521_TXB1CTRL_TXP0 (1 << 0)
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#define MCP2521_TXB2CTRL 0x50
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#define MCP2521_TXB2CTRL_ABTF (1 << 6)
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#define MCP2521_TXB2CTRL_MLOA (1 << 5)
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#define MCP2521_TXB2CTRL_TXERR (1 << 4)
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#define MCP2521_TXB2CTRL_TXREQ (1 << 3)
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#define MCP2521_TXB2CTRL_TXP1 (1 << 1)
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#define MCP2521_TXB2CTRL_TXP0 (1 << 0)
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struct TXBnCTRL_Register {
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uint8_t TXP : 2;
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uint8_t : 1; // Unused bit
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uint8_t TXREQ : 1;
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uint8_t TXERR : 1;
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uint8_t MLOA : 1;
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uint8_t ABTF : 1;
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uint8_t : 1; // Unused bit
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};
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#define MCP2521_RXB0CTRL 0x60
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#define MCP2521_RXB0CTRL_RXM1 (1 << 6)
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#define MCP2521_RXB0CTRL_RXM0 (1 << 5)
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#define MCP2521_RXB0CTRL_RXRTR (1 << 3)
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#define MCP2521_RXB0CTRL_BUKT (1 << 2)
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#define MCP2521_RXB0CTRL_BUKT1 (1 << 1)
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#define MCP2521_RXB0CTRL_FILHIT0 (1 << 0)
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#define MCP2521_RXB1CTRL 0x70
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#define MCP2521_RXB1CTRL_RXM1 (1 << 6)
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#define MCP2521_RXB1CTRL_RXM0 (1 << 5)
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#define MCP2521_RXB1CTRL_RXRTR (1 << 3)
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#define MCP2521_RXB1CTRL_FILHIT2 (1 << 2)
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#define MCP2521_RXB1CTRL_FILHIT1 (1 << 1)
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#define MCP2521_RXB1CTRL_FILHIT0 (1 << 0)
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#define MCP2521_OP_RESET 0b11000000
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#define MCP2521_OP_READ 0b00000011
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#define MCP2521_OP_READ_RX_BUFFER 0b10010000
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#define MCP2521_OP_WRITE 0b00000010
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#define MCP2521_OP_LOAD_TX_BUFFER 0b01000000
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#define MCP2521_OP_RTS 0b10000000
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#define MCP2521_OP_READ_STATUS 0b10100000
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#define MCP2521_OP_RX_STATUS 0b10110000
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#define MCP2521_OP_BIT_MODIFY 0b00000101
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#define MCP2521_TXB0SIDH 0x31
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#define MCP2521_TXB1SIDH 0x41
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#define MCP2521_TXB2SIDH 0x51
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#define MCP2521_TXB0SIDL 0x32
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#define MCP2521_TXB1SIDL 0x42
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#define MCP2521_TXB2SIDL 0x52
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#define MCP2521_RXB0SIDH 0x61
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#define MCP2521_RXB1SIDH 0x71
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#define MCP2521_RXB0SIDL 0x62
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#define MCP2521_RXB1SIDL 0x72
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#define MCP2521_RXB0EID8 0x63
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#define MCP2521_RXB1EID8 0x73
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#define MCP2521_RXB0EID0 0x64
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#define MCP2521_RXB1EID0 0x74
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#define MCP2521_RXB0DLC 0x65
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#define MCP2521_RXB1DLC 0x75 |