===============
 MCP2515 class
===============


.. class:: MCP2515(dvr, cs, rst=None, clk=800000):

    Creates an instance of the MCP2515 class. This class allows the control of MCP2515 devices.
    
    :param drv: SPI Driver used '(SPI0, ...)'
    :param cs: Chip select of the SPI driver
    :param rst: Reset pin (default None)
    :param clk: Clock speed, default 800 kHz


    
.. method:: init(idmode, speed, clock)       

    Initializes the MCP2515 chip 
    
    :param idmode: set the RX buffer id mode (selectable from mcp2515.MCP_STDEXT, mcp2515.MCP_STD, mcp2515.MCP_EXT, or mcp2515.MCP_ANY
    :param speed: set the speed of the CAN communication 
    :param clock: set the clock of the CAN Communication

    Possible combination of values for Clock and Speed are:

    * Clock --> 8MHZ
            
        =========== ================
        Clock       Speed
        =========== ================
        "8MHZ"      "5KBPS"           
        "8MHZ"      "10KBPS"           
        "8MHZ"      "20KBPS"           
        "8MHZ"      "31KBPS"           
        "8MHZ"      "33KBPS"           
        "8MHZ"      "40KBPS"           
        "8MHZ"      "50KBPS"           
        "8MHZ"      "80KBPS"           
        "8MHZ"      "100KBPS"           
        "8MHZ"      "125KBPS"           
        "8MHZ"      "200KBPS"           
        "8MHZ"      "250KBPS"           
        "8MHZ"      "500KBPS"
        "8MHZ"      "1000KBPS"
        =========== ================

    * Clock --> 16MHZ
        
        =========== ================
        Clock       Speed
        =========== ================
        "16MHZ"     "5KBPS"           
        "16MHZ"     "10KBPS"           
        "16MHZ"     "20KBPS"           
        "16MHZ"     "33KBPS"           
        "16MHZ"     "40KBPS"           
        "16MHZ"     "50KBPS"           
        "16MHZ"     "80KBPS"           
        "16MHZ"     "100KBPS"           
        "16MHZ"     "125KBPS"           
        "16MHZ"     "200KBPS"           
        "16MHZ"     "250KBPS"           
        "16MHZ"     "500KBPS"           
        "16MHZ"     "1000KBPS"
        =========== ================

    * Clock --> 20MHZ
        
        =========== ================
        Clock       Speed
        =========== ================
        "20MHZ"     "40KBPS"   
        "20MHZ"     "50KBPS"   
        "20MHZ"     "80KBPS"   
        "20MHZ"     "100KBPS"   
        "20MHZ"     "125KBPS"   
        "20MHZ"     "200KBPS"   
        "20MHZ"     "250KBPS"   
        "20MHZ"     "500KBPS"   
        "20MHZ"     "1000KBPS"   
        =========== ================

        
.. method:: set_mode(mode)       

    Sets the operation mode of the MCP2515
    
    :param mode: operation mode ("NORMAL", "SLEEP", "LOOPBACK", "LISTENONLY", "CONFIG", "POWERUP", "ONE_SHOT")
        
        
.. method:: init_mask(num, data, ext)      

    Initializes Masks
    
    :param num: 0 to set mask 0 on RX buffer, 1 to set mask 1 on RX buffer
    :param data: Data Mask
    :param ext:  0 for standard ID, 1 for Extended ID 
        
        
.. method:: init_filter(num, data, ext)      

    Initializes Filters
    
    :param num: number of filter to be set in RX buffer (from 0 to 5)
    :param data: Data Filter
    :param ext:  0 for standard ID, 1 for Extended ID 
        
        
.. method:: send(canid, data, ext=None)      

    Sends CAN messages
    
    :param canid: ID of the CAN message (bytearray of 4 bytes)
    :param data: Data to be sent (list of 8 bytes)
    :param ext:  0 for standard ID, 1 for Extended ID (default None - auto detected) 
        
        
.. method:: recv()      

    Receives CAN messages returnung CAN id value and related data message
    
    Returns canid, msg