** Function name: mcp2515_configRate ** Descriptions: set boadrate **************************************************************

** Function name: mcp2515_getNextFreeTXBuf ** Descriptions: get Next free txbuf *************************************************

** Function name: mcp2515_init ** Descriptions: init the device *****************************************************************

** Function name: mcp2515_initCANBuffers ** Descriptions: init canbuffers *******************************************************

** Function name: mcp2515_modifyRegister ** Descriptions: set bit of one register ***********************************************

** Function name: mcp2515_readRegister ** Descriptions: read register ***********************************************************

** Function name: mcp2515_readRegisterS ** Descriptions: read registerS *********************************************************

** Function name: mcp2515_readStatus ** Descriptions: read mcp2515's Status *****************************************************

** Function name: mcp2515_read_canMsg ** Descriptions: read message *************************************************************

** Function name: mcp2515_read_id ** Descriptions: read can id ******************************************************************

** Function name: mcp2515_reset ** Descriptions: reset the device ***************************************************************

** Function name: mcp2515_setCANCTRL_Mode ** Descriptions: set control mode *****************************************************

** Function name: mcp2515_setRegister ** Descriptions: set register *************************************************************

** Function name: mcp2515_setRegisterS ** Descriptions: set registerS ***********************************************************

** Function name: mcp2515_start_transmit ** Descriptions: start transmit ********************************************************

** Function name: mcp2515_write_canMsg ** Descriptions: write msg ***************************************************************

** Function name: mcp2515_write_id ** Descriptions: write can id ****************************************************************

For MCP49x1

MCP49x2 (dual DAC) only. Send a set of new values for the DAC to output in a single function call

the throttle firmware should be able to correctly and consistently detect operator overrides, disable on reciept, and send a fault report

the steering firmware should be able to correctly and consistently detect operator overrides, disable on reciept, and send a fault report

the brake firmware should be able to correctly and consistently detect operator overrides, disable on receipt, and send a fault report

check derivative term validity with standard formula

check integral term validity with standard formula

the throttle firmware should set the commanded pedal position upon reciept of a valid command throttle message

the throttle firmware should not attempt processing any messages that are not throttle or fault commands this means that none of the throttle control

the steering firmware should not attempt processing any messages that are not steering or fault commands this means that none of the steering control

the brake firmware should not attempt processing any messages that are not brake or fault commands this means that none of the brake control state wou

the throttle firmware should not attempt processing any messages that are not throttle commands

the throttle firmware should send requested spoof values upon recieving a throttle command message

the steering firmware should send requested spoof values upon recieving a steering command message

the brake firmware should send requested spoof values upon receiving a brake command message

the throttle firmware should constrain requested spoof values upon recieving a throttle command message

the steering firmware should constrain requested spoof values upon recieving a steering command message

the brake firmware should constrain requested spoof values upon receiving a brake command message

the throttle firmware should set the control state as disabled upon reciept of a valid disable throttle message telling it to disable

the steering firmware should set the control state as disabled upon reciept of a valid disable steering message telling it to disable

the brake firmware should set the control state as disabled upon receipt of a valid disable brake message telling it to disable

the brake firmware should set the control state as disabled upon reciept of a valid disable brake message telling it to disable

the throttle firmware should set the control state as enabled upon reciept of a valid enable throttle message telling it to enable

the steering firmware should set the control state as enabled upon reciept of a valid enable steering message telling it to enable

the brake firmware should set the control state as enabled upon receipt of a valid enable brake message telling it to enable

the brake firmware should set the control state as enabled upon reciept of a valid enable brake message telling it to enable

the throttle firmware should set disable itself when it recieves a fault report from any other module

the steering firmware should set disable itself when it recieves a fault report from any other module

the brake firmware should set disable itself when it receives a fault report from any other module

check proportional term validity with standard formula

sending the inputs in reversed order should result in the same, only negated, control

passing in the same inputs for two separate calls should result in the same answer

the throttle firmware should create only valid CAN frames

the steering firmware should create only valid CAN frames

the brake firmware should create only valid CAN frames

zeroize should always reset these values

** Function name: readMsg ** Descriptions: read message *************************************************************************

** Function name: readMsgBuf ** Descriptions: read message buf ******************************************************************

** Function name: sendMsg ** Descriptions: send message *************************************************************************

Only relevant for the MCP49x2 dual DACs. If set, calling output2() will pull the LDAC pin low automatically, which causes the output to change. Not re

Sets the gain. These DACs support 1x and 2x gain. vout = x/2^n * gain * VREF, where x = the argument to out(), n = number of DAC bits Example: with 1x

** Function name: setMsg ** Descriptions: set can message, such as dlc, id, dta[] and so on *************************************

Sets the SPI clock frequency. The final frequency will be the main Arduino clock divided by the divider selected here.

Shuts the DAC down. Shutdown current is about 1/50 (typical) of active mode current. My measurements say ~160-180 µA active (unloaded vout), ~3.5 µA s