#include <xc.h> #include <stdint.h> #include <stdbool.h> #include <avr/io.h> #include <avr/interrupt.h>

// CAN control register bits #define CANCTRL_REQTX 0x08 #define CANCTRL_RREQ 0x20

void mcp2515_write(uint8_t reg, uint8_t data) { // ... (code to write to MCP2515) }

// Check if CAN bus is idle state = (mcp2515_read(MCP2515_CANSTAT) >> 5) & 0x03; if (state != CAN_STATE_IDLE) { // Handle error }

// Set CAN baud rate // ... (code to set CAN baud rate)

// CAN states typedef enum { CAN_STATE_IDLE, CAN_STATE_TRANSMIT, CAN_STATE_RECEIVE } can_state_t;

// Load transmit buffer // ... (code to load transmit buffer)

// CAN status register bits #define CANSTAT_RX0IF 0x04 #define CANSTAT_TX0IF 0x08