The CAN module comprise of a CAN controller and transceiver which establish the HIGH-LOW field lines for communication.Configure the module to transmit or receive data.Although CAN controller has 114 register which is configured using 8 types of command:

1.)RESET:-

mcp2515_RESET()
{
 
  SetSS(0);    //select slave
  Send(MCP_RESET);    //write reset instruction
  SetSS(1);    //unselect the slave
  delay(10);

}

2.)READ:-

mcp2515_READ_Byte(unsigned char address)
{
  unsigned char res;
  SetSS(0);
  Send(0x03);
  Send(address);
  res = Recive();
 
  SetSS(1);
  delay(10);
  return res;
}

3.)WRITE:-

mcp2515_WRITE_Byte(unsigned char address,unsigned char data)
{
  unsigned char dummy;
  SetSS(0);
  dummy =Send(0x02);
  dummy =Send(address);
  dummy =Send(data);
  SetSS(1);
  delay(10);
  return dummy;
}

4.)BIT MODIFY:-

 mcp2515_modify(unsigned char address,unsigned char mask,unsigned char data)
{

SetSS(0);//slave select
Send(MCP_BITMOD); //0x05 ,command to modify bit
Send(address);//address of the register
Send(mask); //mask byte
Send(data); //data byte
SetSS(1); //unselect slave

}

5.)READ STATUS:-

mcp2515_readStatus(void)
{
return mcp2515_readXXStatus_helper(MCP_READ_STATUS);
}

6.)Recieve Status

7.)Read RX Buffer

8.)Load TX Buffer