mcp2515.h

Go to the documentation of this file.

/*
 * Copyright (c) 2024 ykat UG (haftungsbeschraenkt) - All Rights Reserved
 *
 * Permission for non-commercial use is hereby granted,
 * free of charge, without warranty of any kind.
 */
#ifndef ZRTOS_VFS_MODULE_MCP2515_H
#define ZRTOS_VFS_MODULE_MCP2515_H
#ifdef __cplusplus
extern "C" {
#endif


#include <zrtos/vfs_module.h>
#include <zrtos/mem.h>
#include <zrtos/va.h>

#define ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE(cfg1,cfg2,cfg3)\
    ((cfg1) | ((cfg2)<<8) | ((cfg3)<<16))

typedef enum{
     ZRTOS_VFS_MODULE_MCP2515_BITRATE__MIN            = ZRTOS_TYPES__UINT32_MIN
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_1000kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0x80),(0x80))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_500kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0x90), (0x82))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_250kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0xB1), (0x85))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_200kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0xB4), (0x86))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_125kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x01),(0xB1), (0x85))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_100kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x01),(0xB4), (0x86))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_80kBPS    = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x01),(0xBF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_50kBPS    = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xB4), (0x86))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_40kBPS    = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xBF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_33k3BPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x47), (0xE2), (0x85))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_31k25BPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x07), (0xA4), (0x84))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_20kBPS    = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x07),(0xBF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_10kBPS    = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x0F),(0xBF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__8MHz_5kBPS     = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x1F),(0xBF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_1000kBPS = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0xD0), (0x82))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_500kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0xF0), (0x86))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_250kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x41),(0xF1), (0x85))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_200kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x01),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_125kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xF0), (0x86))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_100kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_95kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xAD), (0x07))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_83k3BPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03), (0xBE), (0x07))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_80kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_50kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x07),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_40kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x07),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_33k3BPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x4E), (0xF1), (0x85))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_20kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x0F),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_10kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x1F),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__16MHz_5kBPS    = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x3F),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_1000kBPS = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0xD9), (0x82))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_500kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x00),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_250kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x41),(0xFB), (0x86))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_200kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x01),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_125kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x03),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_100kBPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x04),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_83k3BPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x04), (0xFE), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_80kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x04),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_50kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x09),(0xFA), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_40kBPS   = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x09),(0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__20MHz_33k3BPS  = ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE((0x0B), (0xFF), (0x87))
    ,ZRTOS_VFS_MODULE_MCP2515_BITRATE__MAX            = ZRTOS_TYPES__UINT32_MAX
}zrtos_vfs_module_mcp2515_bitrate_t;

#undef ZRTOS_VFS_MODULE_MCP2515_BITRATE__COMBINE

uint8_t zrtos_vfs_module_mcp2515_bitrate__get_cfg1(zrtos_vfs_module_mcp2515_bitrate_t thiz){
    return thiz & 0xFF;
}

uint8_t zrtos_vfs_module_mcp2515_bitrate__get_cfg2(zrtos_vfs_module_mcp2515_bitrate_t thiz){
    return (thiz >> 8) & 0xFF;
}

uint8_t zrtos_vfs_module_mcp2515_bitrate__get_cfg3(zrtos_vfs_module_mcp2515_bitrate_t thiz){
    return (thiz >> 16) & 0xFF;
}

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_MASK__MASK0 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM0SIDH,
    ZRTOS_VFS_MODULE_MCP2515_MASK__MASK1 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM1SIDH
}zrtos_vfs_module_mcp2515_mask_t;

typedef enum/*enum zrtos_vfs_module_mcp2515_register_rxf_t */{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF0 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF0SIDH,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF1 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF1SIDH,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF2 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF2SIDH,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF3 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF3SIDH,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF4 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF4SIDH,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF5 = ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF5SIDH
}zrtos_vfs_module_mcp2515_register_rxf_t;

typedef enum /*uint8_t*/{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__RX0IF = 0x01,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__RX1IF = 0x02,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__TX0IF = 0x04,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__TX1IF = 0x08,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__TX2IF = 0x10,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__ERRIF = 0x20,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__WAKIF = 0x40,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__MERRF = 0x80
}zrtos_vfs_module_mcp2515_register_canintf_t;

typedef enum /*uint8_t*/{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__REQOP = 0xE0,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__ABAT = 0x10,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__OSM = 0x08,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__CLKEN = 0x04,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__CLKPRE = 0x03
}zrtos_vfs_module_mcp2515_register_canctrl_t;

typedef enum /*uint8_t*/{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__NORMAL     = 0x00,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__SLEEP      = 0x20,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__LOOPBACK   = 0x40,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__LISTENONLY = 0x60,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__CONFIG     = 0x80,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__POWERUP    = 0xE0
}zrtos_vfs_module_mcp2515_register_canctrl_reqop_t;

typedef enum /*uint8_t*/{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANSTAT__OPMOD = 0xE0,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANSTAT__ICOD = 0x0E
}zrtos_vfs_module_mcp2515_register_canstat_t;

typedef enum /*class TXBnCTRL : uint8_t */{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__ABTF   = 0x40,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__MLOA   = 0x20,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXERR  = 0x10,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXREQ  = 0x08,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXIE   = 0x04,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXP    = 0x03
}zrtos_vfs_module_mcp2515_register_txbnctrl_t;

typedef enum /*uint8_t*/{
     ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_STD    = 0x20
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_EXT    = 0x40
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_STDEXT = 0x00
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_MASK   = 0x60
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RTR        = 0x08
}zrtos_vfs_module_mcp2515_register_rxbnctrl_t;

typedef enum /*uint8_t*/{
     ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__BUKT        = 0x04
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__FILHIT_MASK = 0x03
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__FILHIT      = 0x00
}zrtos_vfs_module_mcp2515_register_rxb0ctrl_t;

typedef enum /*uint8_t*/{
     ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB1CTRL__FILHIT_MASK = 0x07
    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB1CTRL__FILHIT      = 0x01
}zrtos_vfs_module_mcp2515_register_rxb1ctrl_t;

typedef enum /*uint8_t*/{
     ZRTOS_VFS_MODULE_MCP2515_REGISTER_CNF3__SOF = 0x80
}zrtos_vfs_module_mcp2515_register_cnf3_t;

        static uint8_t  = 0x08;
typedef enum /*uint8_t */{
     ZRTOS_VFS_MODULE_MCP2515_MCP_SIDL__TXB_EXIDE_MASK       = 0x08
}zrtos_vfs_module_mcp2515_mcp_sidl_t;

typedef enum /*uint8_t */{
     ZRTOS_VFS_MODULE_MCP2515_MCP_DLC__RTR_MASK       = 0x40
    ,ZRTOS_VFS_MODULE_MCP2515_MCP_DLC__DLC_MASK       = 0x0F
}zrtos_vfs_module_mcp2515_mcp_dlc_t;

typedef enum /*uint8_t */{
     ZRTOS_VFS_MODULE_MCP2515_MCP__SIDH = 0
    ,ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL = 1
    ,ZRTOS_VFS_MODULE_MCP2515_MCP__EID8 = 2
    ,ZRTOS_VFS_MODULE_MCP2515_MCP__EID0 = 3
    ,ZRTOS_VFS_MODULE_MCP2515_MCP__DLC  = 4
    ,ZRTOS_VFS_MODULE_MCP2515_MCP__DATA = 5
}zrtos_vfs_module_mcp2515_mcp_t;

typedef enum /*uint8_t */{
    ZRTOS_VFS_MODULE_MCP2515_STATUS__RX0IF = (1<<0),
    ZRTOS_VFS_MODULE_MCP2515_STATUS__RX1IF = (1<<1),
    ZRTOS_VFS_MODULE_MCP2515_STATUS__RXIF_MASK = (
          ZRTOS_VFS_MODULE_MCP2515_STATUS__RX0IF
        | ZRTOS_VFS_MODULE_MCP2515_STATUS__RX1IF
    )
}zrtos_vfs_module_mcp2515_status_t;

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__MIN     = ZRTOS_TYPES__INT8_MIN,
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__DISABLE = -1,
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__DIV1    = 0x0,
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__DIV2    = 0x1,
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__DIV4    = 0x2,
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__DIV8    = 0x3,
    ZRTOS_VFS_MODULE_MCP2515_CLKOUT__MAX     = ZRTOS_TYPES__INT8_MAX
}zrtos_vfs_module_mcp2515_clkout_t;

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__MIN         = ZRTOS_TYPES__UINT8_MIN,
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RX1OVR = (1<<7),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RX0OVR = (1<<6),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__TXBO   = (1<<5),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__TXEP   = (1<<4),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RXEP   = (1<<3),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__TXWAR  = (1<<2),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RXWAR  = (1<<1),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__EWARN  = (1<<0),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__ERRORMASK = (ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RX1OVR
                                            | ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RX0OVR
                                            | ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__TXBO
                                            | ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__TXEP
                                            | ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RXEP),
    ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__MAX         = ZRTOS_TYPES__UINT8_MAX
}zrtos_vfs_module_mcp2515_error_flag_t;

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__MIN         = ZRTOS_TYPES__UINT8_MIN,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__WRITE       = 0x02,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__READ        = 0x03,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__BITMOD      = 0x05,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__LOAD_TX0    = 0x40,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__LOAD_TX1    = 0x42,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__LOAD_TX2    = 0x44,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RTS_TX0     = 0x81,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RTS_TX1     = 0x82,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RTS_TX2     = 0x84,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RTS_ALL     = 0x87,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__READ_RX0    = 0x90,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__READ_RX1    = 0x94,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__READ_STATUS = 0xA0,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RX_STATUS   = 0xB0,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RESET       = 0xC0,
    ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__MAX         = ZRTOS_TYPES__UINT8_MAX
}zrtos_vfs_module_mcp2515_instruction_t;

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__MIN      = ZRTOS_TYPES__UINT8_MIN,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF0SIDH = 0x00,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF0SIDL = 0x01,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF0EID8 = 0x02,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF0EID0 = 0x03,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF1SIDH = 0x04,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF1SIDL = 0x05,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF1EID8 = 0x06,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF1EID0 = 0x07,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF2SIDH = 0x08,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF2SIDL = 0x09,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF2EID8 = 0x0A,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF2EID0 = 0x0B,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANSTAT  = 0x0E,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANCTRL  = 0x0F,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF3SIDH = 0x10,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF3SIDL = 0x11,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF3EID8 = 0x12,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF3EID0 = 0x13,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF4SIDH = 0x14,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF4SIDL = 0x15,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF4EID8 = 0x16,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF4EID0 = 0x17,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF5SIDH = 0x18,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF5SIDL = 0x19,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF5EID8 = 0x1A,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXF5EID0 = 0x1B,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TEC      = 0x1C,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__REC      = 0x1D,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM0SIDH = 0x20,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM0SIDL = 0x21,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM0EID8 = 0x22,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM0EID0 = 0x23,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM1SIDH = 0x24,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM1SIDL = 0x25,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM1EID8 = 0x26,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXM1EID0 = 0x27,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF3     = 0x28,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF2     = 0x29,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF1     = 0x2A,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTE  = 0x2B,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF  = 0x2C,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__EFLG     = 0x2D,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0CTRL = 0x30,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0SIDH = 0x31,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0SIDL = 0x32,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0EID8 = 0x33,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0EID0 = 0x34,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0DLC  = 0x35,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0DATA = 0x36,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1CTRL = 0x40,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1SIDH = 0x41,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1SIDL = 0x42,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1EID8 = 0x43,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1EID0 = 0x44,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1DLC  = 0x45,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1DATA = 0x46,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2CTRL = 0x50,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2SIDH = 0x51,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2SIDL = 0x52,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2EID8 = 0x53,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2EID0 = 0x54,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2DLC  = 0x55,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2DATA = 0x56,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0CTRL = 0x60,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0SIDH = 0x61,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0SIDL = 0x62,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0EID8 = 0x63,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0EID0 = 0x64,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0DLC  = 0x65,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0DATA = 0x66,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1CTRL = 0x70,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1SIDH = 0x71,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1SIDL = 0x72,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1EID8 = 0x73,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1EID0 = 0x74,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1DLC  = 0x75,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1DATA = 0x76,
    ZRTOS_VFS_MODULE_MCP2515_REGISTER__MAX      = ZRTOS_TYPES__UINT8_MAX
}zrtos_vfs_module_mcp2515_register_t;

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_RXBN__RXB0 = 0,
    ZRTOS_VFS_MODULE_MCP2515_RXBN__RXB1 = 1,
    ZRTOS_VFS_MODULE_MCP2515_RXBN__LENGTH = 2
}zrtos_vfs_module_mcp2515_rxbn_t;

typedef enum{
    ZRTOS_VFS_MODULE_MCP2515_TXBN__TXB0 = 0,
    ZRTOS_VFS_MODULE_MCP2515_TXBN__TXB1 = 1,
    ZRTOS_VFS_MODULE_MCP2515_TXBN__TXB2 = 2,
    ZRTOS_VFS_MODULE_MCP2515_TXBN__LENGTH = 3
}zrtos_vfs_module_mcp2515_txbn_t;

typedef struct{
    zrtos_vfs_module_mcp2515_register_t ctrl;
    zrtos_vfs_module_mcp2515_register_t sidh;
    zrtos_vfs_module_mcp2515_register_t data;
}zrtos_vfs_module_mcp2515_txbn_regs_t;

typedef struct{
    zrtos_vfs_module_mcp2515_register_t ctrl;
    zrtos_vfs_module_mcp2515_register_t sidh;
    zrtos_vfs_module_mcp2515_register_t data;
    zrtos_vfs_module_mcp2515_register_canintf_t rxnif;
}zrtos_vfs_module_mcp2515_rxbn_regs_t;

typedef struct{
    uint8_t data[4];
}zrtos_vfs_module_mcp2515_id_t;

void *zrtos_vfs_module_mcp2515_id__get_buffer(zrtos_vfs_module_mcp2515_id_t *thiz){
    return thiz->data;
}

size_t zrtos_vfs_module_mcp2515_id__get_length(zrtos_vfs_module_mcp2515_id_t *thiz){
    return 4;
}

zrtos_error_t zrtos_vfs_module_mcp2515__read_registers(
     zrtos_vfs_module_mcp2515_register_t reg
    ,uint8_t *values
    ,size_t  values_length
){
    uint8_t buffer[] = {
         ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__READ
        ,reg
    };
    
    zrtos_error_t ret = zrtos_vfs_fd__spi_transfer(
         fd
        ,2
        ,buffer
        ,ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(buffer)
        ,values
        ,values_length
    );

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__read_register(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_register_t reg
    ,uint8_t *value
){
    return zrtos_vfs_module_mcp2515__read_registers(
         fd
        ,reg
        ,value
        ,1
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_registers(
     zrtos_vfs_module_mcp2515_register_t reg
    ,uint8_t *values
    ,size_t values_length
){
    uint8_t buffer[] = {
         ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__WRITE
        ,reg
    };
    
    zrtos_error_t ret = zrtos_vfs_fd__spi_transfer(
         fd
        ,2
        ,buffer
        ,ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(buffer)
        ,values
        ,values_length
    );

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_register(
    zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_register_t reg
    ,uint8_t value
){
    return zrtos_vfs_module_mcp2515__set_registers(
         fd
        ,reg
        ,&value
        ,1
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__modify_register(
    zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_register_t reg
    ,uint8_t mask
    ,uint8_t data
){
    uint8_t buffer[] = {
         ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__BITMOD
        ,reg
        ,mask
        ,data
    };

    zrtos_error_t ret = zrtos_vfs_fd__spi_transfer(
         fd
        ,1
        ,buffer
        ,ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(buffer)
    );

    return ret;
}

uint8_t zrtos_vfs_module_mcp2515__get_status(
    zrtos_vfs_fd_t fd
    ,uint8_t *res
){
    uint8_t buffer[] = {
         ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__READ_STATUS
    };

    zrtos_error_t ret = zrtos_vfs_fd__spi_transfer(
         fd
        ,2
        ,buffer
        ,ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(buffer)
        ,res
        ,1
    );

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_mode(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_register_canctrl_reqop_t mode
){
    zrtos_error_t ret = zrtos_vfs_module_mcp2515__modify_register(
         fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANCTRL
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__REQOP
        ,mode
    );
    size_t l = 10;
    bool modeMatch = false;

    if(zrtos_error__is_success(ret)){
        while(l--){
            uint8_t newmode;
            ret = zrtos_vfs_module_mcp2515__read_register(
                fd
                ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANSTAT
                ,&newmode
            );
            if(!zrtos_error__is_success(ret)
            || (modeMatch = mode == (newmode & ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANSTAT__OPMOD))){
                break;
            }
        }
    }

    if(zrtos_error__is_success(ret)){
        ret = modeMatch
            ? ZRTOS_ERROR__SUCCESS
            : ZRTOS_ERROR__ERROR
        ;
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_config_mode(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__set_mode(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__CONFIG
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_listen_only_mode(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__set_mode(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__LISTENONLY
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_sleep_mode(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__set_mode(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__SLEEP
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_loopback_mode(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__set_mode(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__LOOPBACK
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_normal_mode(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__set_mode(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL_REQOP__NORMAL
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_bitrate(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_bitrate_t bitrate
){
    zrtos_error_t ret;
    if(zrtos_error__is_success(ret = zrtos_vfs_module_mcp2515__set_config_mode(
        fd
    ))
    && zrtos_error__is_success(ret = zrtos_vfs_module_mcp2515__set_register(
         fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF1
        ,zrtos_vfs_module_mcp2515_bitrate__get_cfg1(bitrate)
    ))
    && zrtos_error__is_success(ret = zrtos_vfs_module_mcp2515__set_register(
         fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF2
        ,zrtos_vfs_module_mcp2515_bitrate__get_cfg2(bitrate)
    ))
    && zrtos_error__is_success(ret = zrtos_vfs_module_mcp2515__set_register(
         fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF3
        ,zrtos_vfs_module_mcp2515_bitrate__get_cfg3(bitrate)
    ))){
        continue;
    }
    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_clk_out(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_clkout_t divisor
){
    zrtos_error_t ret = ZRTOS_ERROR__SUCCESS;
    uint8_t clken;
    uint8_t cnf3;

    if(divisor == ZRTOS_VFS_MODULE_MCP2515_CLKOUT__DISABLE){
        clken = 0x00;//Turn off CLKEN
        cnf3 = ZRTOS_VFS_MODULE_MCP2515_REGISTER_CNF3__SOF;//Turn on CLKOUT for SOF
    }else{
        clken = ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__CLKEN;//Turn on CLKEN
        cnf3 = 0x00;//Turn off CLKOUT for SOF

        //Set the prescaler (CLKPRE)
        ret = zrtos_vfs_module_mcp2515__modify_register(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANCTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__CLKPRE
            ,divisor
        );
    }

    if(zrtos_error__is_success(ret)
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__modify_register(
                fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANCTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANCTRL__CLKEN
            ,clken
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__modify_register(
            fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CNF3
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CNF3__SOF
            ,cnf3
        )
    ))){
        continue;
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515_id__init(
     zrtos_vfs_module_mcp2515_id_t *thiz
    ,bool ext
    ,uint32_t id
){
    zrtos_error_t ret = ZRTOS_ERROR__SUCCESS;
    uint8_t *buffer = thiz->data;
    uint16_t canid = (uint16_t)(id & 0x0FFFF);

    if(ext){
        if(id <= 536870911){
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__EID0] = (uint8_t) (canid & 0xFF);
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__EID8] = (uint8_t) (canid >> 8);
            canid = (uint16_t)(id >> 16);
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL] = (uint8_t) (canid & 0x03);
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL] += (uint8_t) ((canid & 0x1C) << 3);
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL] |= ZRTOS_VFS_MODULE_MCP2515_MCP_SIDL__TXB_EXIDE_MASK;
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDH] = (uint8_t) (canid >> 5);
            goto L_RETURN;
        }
    }else{
        if(id <= 2047){
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDH] = (uint8_t) (canid >> 3);
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL] = (uint8_t) ((canid & 0x07 ) << 5);
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__EID0] = 0;
            buffer[ZRTOS_VFS_MODULE_MCP2515_MCP__EID8] = 0;
            goto L_RETURN;
        }
    }

    ret = ZRTOS_ERROR__INVAL;
L_RETURN:
    return ret;
}

static zrtos_error_t zrtos_vfs_module_mcp2515__set_filter_ex(
     zrtos_vfs_fd_t fd
    ,uint8_t reg
    ,bool ext
    ,uint32_t ulData
){
    zrtos_vfs_module_mcp2515_id_t tbufdata;
    zrtos_error_t ret = zrtos_vfs_module_mcp2515__set_config_mode(fd);
    
    if(zrtos_error__is_success(ret)
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515_id__init(&tbufdata, ext, ulData)
    ))){
        ret = zrtos_vfs_module_mcp2515__set_registers(
             reg
            ,zrtos_vfs_module_mcp2515_id__get_buffer(&tbufdata)
            ,zrtos_vfs_module_mcp2515_id__get_length(&tbufdata)
        );
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_filter_mask(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_mask_t reg
    ,bool ext
    ,uint32_t ulData
){
    return zrtos_vfs_module_mcp2515__set_filter_ex(
         fd
        ,reg
        ,ext
        ,ulData
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__set_filter(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_register_rxf_t reg
    ,bool ext
    ,uint32_t ulData
){
    return zrtos_vfs_module_mcp2515__set_filter_ex(
         fd
        ,reg
        ,ext
        ,ulData
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__reset(zrtos_vfs_fd_t fd){
    uint8_t zeros[14] = {};
    zrtos_vfs_module_mcp2515_register_rxf_t filters[] = {
         ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF0
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF1
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF2
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF3
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF4
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXF__RXF5
    };
    zrtos_vfs_module_mcp2515_mask_t masks[] = {
         ZRTOS_VFS_MODULE_MCP2515_MASK__MASK0
        ,ZRTOS_VFS_MODULE_MCP2515_MASK__MASK1
    };
    uint8_t buffer[] = {
         ZRTOS_VFS_MODULE_MCP2515_INSTRUCTION__RESET
    };
    zrtos_error_t ret = zrtos_vfs_fd__spi_transfer(
         fd
        ,1
        ,buffer
        ,ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(buffer)
    );

    zrtos_gpio__delay_milliseconds(10);

    if(zrtos_error__is_success(ret)
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__set_registers(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0CTRL
            ,zeros
            ,14
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__set_registers(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1CTRL
            ,zeros
            ,14
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__set_registers(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2CTRL
            ,zeros
            ,14
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__set_register(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0CTRL
            ,0
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__set_register(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1CTRL
            ,0
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__set_register(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTE
            ,(
                  ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__RX0IF
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__RX1IF
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__ERRIF
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__MERRF
            )
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__modify_register(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0CTRL
            ,(
                  ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_MASK
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__BUKT
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__FILHIT_MASK
            ),(
                  ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_STDEXT
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__BUKT
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB0CTRL__FILHIT
            )
        )
    ))
    && zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__modify_register(
             fd
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1CTRL
            ,(
                  ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_MASK
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB1CTRL__FILHIT_MASK
            ),(
                  ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RXM_STDEXT
                | ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXB1CTRL__FILHIT
            )
        )
    ))){
        for(size_t i=0; i<ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(filters); i++){
            ret = zrtos_vfs_module_mcp2515__set_filter(fd,filters[i],(i == 1),0);
            if(zrtos_error__is_error(ret)){
                goto L_RETURN;
            }
        }

        for(size_t i=0; i<ZRTOS_TYPES__GET_STATIC_ARRAY_LENGTH(masks); i++){
            ret = zrtos_vfs_module_mcp2515__set_filter_mask(masks[i], true, 0);
            if(zrtos_error__is_error(ret)){
                goto L_RETURN;
            }
        }
    }

L_RETURN:
    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__send_message_ex(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_txbn_regs_t txbn_regs
    ,struct can_frame *frame
){
    zrtos_error_t ret;
    zrtos_vfs_module_mcp2515_id_t iddata;
    uint8_t data[13];
    bool ext;
    bool rtr;
    uint32_t id;
    uint8_t ctrl;

    if(frame->can_dlc <= CAN_MAX_DLEN){
        ext = (frame->can_id & CAN_EFF_FLAG);
        rtr = (frame->can_id & CAN_RTR_FLAG);
        id = (frame->can_id & (ext ? CAN_EFF_MASK : CAN_SFF_MASK));

        ret = zrtos_vfs_module_mcp2515_id__init(&iddata, ext, id);
        if(zrtos_error__is_success(ret)){
            memcpy(
                 &data[0]
                ,zrtos_vfs_module_mcp2515_id__get_buffer(&iddata)
                ,zrtos_vfs_module_mcp2515_id__get_length(&iddata)
            );

            data[ZRTOS_VFS_MODULE_MCP2515_MCP__DLC] = rtr
                ? (
                      frame->can_dlc
                    | ZRTOS_VFS_MODULE_MCP2515_MCP_DLC__RTR_MASK
                )
                : frame->can_dlc
            ;

            memcpy(
                 &data[ZRTOS_VFS_MODULE_MCP2515_MCP__DATA]
                ,frame->data
                ,frame->can_dlc
            );

            if(zrtos_error__is_success((
                ret = zrtos_vfs_module_mcp2515__set_registers(
                     fd
                    ,txbn_regs.sidh
                    ,data
                    ,5 + frame->can_dlc
                )
            ))
            && zrtos_error__is_success((
                ret = zrtos_vfs_module_mcp2515__modify_register(
                     fd
                    ,txbn_regs.ctrl
                    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXREQ
                    ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXREQ
                )
            ))
            && zrtos_error__is_success((
                ret = zrtos_vfs_module_mcp2515__read_register(
                     fd
                    ,txbn_regs.ctrl
                    ,&ctrl
                )
            ))){
                if((ctrl & (
                      ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__ABTF
                    | ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__MLOA
                    | ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXERR
                )) != 0){
                    ret = ZRTOS_ERROR__IO;
                }
            }
        }
    }else{
        ret = ZRTOS_ERROR__IO;
    }

    return ret;
}

zrtos_vfs_module_mcp2515_txbn_regs_t zrtos_vfs_module_mcp2515__get_txb(
    zrtos_vfs_module_mcp2515__txbn_t txbn
){
    zrtos_vfs_module_mcp2515_txbn_regs_t data[] = {
        {
            ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0CTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0SIDH
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB0DATA
        }
        ,{
            ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1CTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1SIDH
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB1DATA
        }
        ,{
            ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2CTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2SIDH
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TXB2DATA
        }
    };

    return data[txbn];
}

zrtos_error_t zrtos_vfs_module_mcp2515__get_available_txb(
     zrtos_vfs_fd_t fd
    ,zrtos_vfs_module_mcp2515_txbn_regs_t *txbn_regs
){
    zrtos_error_t ret;
    uint8_t ctrlval;

    for(size_t i=0; i<ZRTOS_VFS_MODULE_MCP2515_TXBN__LENGTH; i++){
        *txbn_regs = zrtos_vfs_module_mcp2515__get_txb(i);
        if(zrtos_error__is_success((
            ret = zrtos_vfs_module_mcp2515__read_register(
                 fd
                ,txbn_regs->ctrl
                ,&ctrlval
            )
        ))
        && (ctrlval & ZRTOS_VFS_MODULE_MCP2515_REGISTER_TXBNCTRL__TXREQ) == 0
        ){
            goto L_RETURN;
        }
    }

    ret = ZRTOS_ERROR__AGAIN;

L_RETURN:
    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__send_message(
     zrtos_vfs_fd_t fd
    ,struct can_frame *frame
){
    zrtos_error_t ret;
    zrtos_vfs_module_mcp2515_txbn_regs_t txbn_regs;

    if(zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__get_available_txb(fd,&txbn_regs)
    ))){
        ret = zrtos_vfs_module_mcp2515__send_message_ex(
             fd
            ,txbn_regs
            ,frame
        );
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__read_message_ex(
    zrtos_vfs_module_mcp2515_rxbn_t rxbn
    , struct can_frame *frame
){
    zrtos_error_t ret;
    zrtos_vfs_module_mcp2515_rxbn_regs_t rxbn_regs[] = {
        {
             ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0CTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0SIDH
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB0DATA
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__RX0IF
        }
        ,{
             ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1CTRL
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1SIDH
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__RXB1DATA
            ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__RX1IF
        }
    };
    zrtos_vfs_module_mcp2515_rxbn_regs_t *rxb = &rxbn_regs[rxbn];
    uint8_t tbufdata[5];

    if(zrtos_error__is_success((
        ret = zrtos_vfs_module_mcp2515__read_registers(
             fd
            ,rxb->sidh
            ,tbufdata
            ,5
        )
    ))){
        uint32_t id = (tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDH]<<3) + (tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL]>>5);

        if ( (tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL] & ZRTOS_VFS_MODULE_MCP2515_MCP_SIDL__TXB_EXIDE_MASK) ==  ZRTOS_VFS_MODULE_MCP2515_MCP_SIDL__TXB_EXIDE_MASK ) {
            id = (id<<2) + (tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__SIDL] & 0x03);
            id = (id<<8) + tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__EID8];
            id = (id<<8) + tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__EID0];
            id |= CAN_EFF_FLAG;
        }

        uint8_t dlc = (
              tbufdata[ZRTOS_VFS_MODULE_MCP2515_MCP__DLC]
            & ZRTOS_VFS_MODULE_MCP2515_MCP_DLC__DLC_MASK
        );
        if(dlc <= CAN_MAX_DLEN){
            uint8_t ctrl;
            ret = zrtos_vfs_module_mcp2515__read_register(fd,rxb->ctrl,&ctrl);
            if(zrtos_error__is_success(ret)){
                if (ctrl & ZRTOS_VFS_MODULE_MCP2515_REGISTER_RXBNCTRL__RTR) {
                    id |= CAN_RTR_FLAG;
                }

                frame->can_id = id;
                frame->can_dlc = dlc;

                ret = zrtos_vfs_module_mcp2515__read_registers(
                     fd
                    ,rxb->data
                    ,frame->data
                    ,dlc
                );
                if(zrtos_error__is_success(ret)){
                    ret = zrtos_vfs_module_mcp2515__modify_register(
                        fd
                        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF
                        ,rxb->rxnif
                        ,0
                    );
                }
            }
        }else{
            ret = ZRTOS_ERROR__IO;
        }
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__read_message(
     zrtos_vfs_fd_t fd
    ,struct can_frame *frame
){
    uint8_t res;
    zrtos_error_t ret = zrtos_vfs_module_mcp2515__get_status(fd,&res);

    if(zrtos_error__is_success(ret)){
        if(ret & (
              ZRTOS_VFS_MODULE_MCP2515_STATUS__RX0IF
            | ZRTOS_VFS_MODULE_MCP2515_STATUS__RX1IF
        )){
            ret = zrtos_vfs_module_mcp2515__read_message_ex(
                 fd
                ,(
                    (ret & ZRTOS_VFS_MODULE_MCP2515_STATUS__RX0IF)
                    ? ZRTOS_VFS_MODULE_MCP2515_RXBN__RXB0
                    : ZRTOS_VFS_MODULE_MCP2515_RXBN__RXB1
                )
                ,frame
            );
        }else{
            ret = ZRTOS_ERROR__NOMSG;
        }
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__check_receive(zrtos_vfs_fd_t fd){
    uint8_t res;
    zrtos_error_t ret = zrtos_vfs_module_mcp2515__get_status(fd,&res);

    if(zrtos_error__is_success(ret)){
        ret = (res & ZRTOS_VFS_MODULE_MCP2515_STATUS__RXIF_MASK)
            ? ZRTOS_ERROR__SUCCESS
            : ZRTOS_ERROR__NODATA
        ;
    }

    return res;
}

zrtos_error_t zrtos_vfs_module_mcp2515__check_error(zrtos_vfs_fd_t fd){
    uint8_t res;
    zrtos_error_t ret = zrtos_vfs_module_mcp2515__get_error_flags(fd,&res);

    if(zrtos_error__is_success(ret)){
        ret = (res & ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__ERRORMASK)
            ? ZRTOS_ERROR__ERROR
            : ZRTOS_ERROR__SUCCESS
        ;
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__get_error_flags(
     zrtos_vfs_fd_t fd
    ,uint8_t *res
){
    return zrtos_vfs_module_mcp2515__read_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__EFLG
        ,res
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__clear_rx_and_ovr_flags(
    zrtos_vfs_fd_t fd
){
    return zrtos_vfs_module_mcp2515__modify_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__EFLG
        ,(
              ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RX0OVR
            | ZRTOS_VFS_MODULE_MCP2515_ERROR_FLAG__RX1OVR
        )
        ,0
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__get_interrupts(
     zrtos_vfs_fd_t fd
    ,uint8_t *res
){
    return zrtos_vfs_module_mcp2515__read_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF
        ,res
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__clear_interrupts(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__set_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF
        ,0
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__get_interrupt_mask(
     zrtos_vfs_fd_t fd
    ,uint8_t *res
){
    return zrtos_vfs_module_mcp2515__read_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTE
        ,res
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__clear_tx_interrupts(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__modify_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF
        ,(
              ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__TX0IF
            | ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__TX1IF
            | ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__TX2IF
        )
        ,0
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__clear_rx_and_ovr(zrtos_vfs_fd_t fd){
    uint8_t eflg;
    zrtos_error_t ret;

    if(zrtos_error__is_success(
        (ret = zrtos_vfs_module_mcp2515__get_error_flags(fd,&eflg))
    )
    && eflg != 0
    && zrtos_error__is_success(
        (ret = zrtos_vfs_module_mcp2515__clear_rx_and_ovr_flags(fd))
    )
    && zrtos_error__is_success(
        (ret = zrtos_vfs_module_mcp2515__clear_interrupts(fd))
    )){
        break;
    }

    return ret;
}

zrtos_error_t zrtos_vfs_module_mcp2515__clear_merr(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__modify_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__MERRF
        ,0
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__clear_errif(zrtos_vfs_fd_t fd){
    return zrtos_vfs_module_mcp2515__modify_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__CANINTF
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER_CANINTF__ERRIF
        ,0
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__get_error_count_rx(
     zrtos_vfs_fd_t fd
    ,uint8_t *res
){
    return zrtos_vfs_module_mcp2515__read_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__REC
        ,res
    );
}

zrtos_error_t zrtos_vfs_module_mcp2515__get_error_count_tx(
     zrtos_vfs_fd_t fd
    ,uint8_t *res
){
    return zrtos_vfs_module_mcp2515__read_register(
        fd
        ,ZRTOS_VFS_MODULE_MCP2515_REGISTER__TEC
        ,res
    );
}

#ifdef __cplusplus
}
#endif
#endif