' Configuration Registers
CANSTAT      = &H0E
CANCTRL      = &H0F
BFPCTRL      = &H0C
TEC          = &H1C
REC          = &H1D
CNF3         = &H28
CNF2         = &H29
CNF1         = &H2A
CANINTE      = &H2B
CANINTF      = &H2C
EFLG         = &H2D
TXRTSCTRL    = &H0D

' Transmit Buffer 0
TXB0CTRL     = &H30
TXB0SIDH     = &H31
TXB0SIDL     = &H32
TXB0EID8     = &H33
TXB0EID0     = &H34
TXB0DLC      = &H35
TXB0D0       = &H36
TXB0D1       = &H37
TXB0D2       = &H38
TXB0D3       = &H39
TXB0D4       = &H3A
TXB0D5       = &H3B
TXB0D6       = &H3C
TXB0D7       = &H3D

' SPI Commands
CAN_RESET    = &HC0
CAN_READ     = &H03
CAN_WRITE    = &H02
CAN_RTS      = &H80
CAN_RTS_TXB0 = &H81

' Initialize SPI
SCK_PIN = 6 ' Set your SCK pin
MOSI_PIN = 7 ' Set your MOSI pin
MISO_PIN = 4 ' Set your MISO pin
CS_PIN = 1 ' Set your CS pin
SPI_Init(SCK_PIN, MOSI_PIN, MISO_PIN, CS_PIN)

' Function to read a byte from the CAN controller
FUNC ReadByte(addr)
   CS_PIN = 0
   SPI_Write CAN_READ
   SPI_Write addr
   res = SPI_Read()
   CS_PIN = 1
   RETURN res
END FUNC

' Function to write a byte to the CAN controller
FUNC WriteByte(addr, data)
   CS_PIN = 0
   SPI_Write addr
   SPI_Write data
   CS_PIN = 1
END FUNC

' Function to reset the CAN controller
FUNC Reset()
   CS_PIN = 0
   SPI_Write CAN_RESET
   CS_PIN = 1
END FUNC

' Function to initialize the CAN controller
FUNC Init(speed)
   PRINT "Reset"
   Reset()
   PAUSE 100

   ' Set baud rate
   WriteByte(CNF1, 0x03) ' Example for 125Kbps
   WriteByte(CNF2, 0xB8)
   WriteByte(CNF3, 0x03)

   ' Set TXB0
   WriteByte(TXB0SIDH, 0xFF)
   WriteByte(TXB0SIDL, 0xE0)
   WriteByte(TXB0DLC, 0x40 OR 0x08) ' DLC = 8

   ' Set RXB0
   WriteByte(RXB0SIDH, 0x00)
   WriteByte(RXB0SIDL, 0x60)
   WriteByte(RXB0CTRL, 0x60)
   WriteByte(RXB0DLC, 0x08)

   ' Enable interrupts
   WriteByte(CANINTE, 0x01)
END FUNC

' Function to send data
FUNC Send(CAN_ID, CAN_TX_Buf, length)
   WriteByte(TXB0SIDH, (CAN_ID >> 3) AND &HFF)
   WriteByte(TXB0SIDL, (CAN_ID AND &H07) << 5)
   WriteByte(TXB0DLC, length)

   FOR j = 0 TO length - 1
       WriteByte(TXB0D0 + j, CAN_TX_Buf(j))
   NEXT j

   WriteByte(CAN_RTS_TXB0)
END FUNC

' Function to receive data
FUNC Receive(CAN_ID)
   WriteByte(RXB0SIDH, (CAN_ID >> 3) AND &HFF)
   WriteByte(RXB0SIDL, (CAN_ID AND &H07) << 5)
   CAN_RX_Buf = []

   WHILE TRUE
       IF (ReadByte(CANINTF) AND &H01) THEN
           len = ReadByte(RXB0DLC)
           FOR i = 0 TO len - 1
               CAN_RX_Buf[i] = ReadByte(RXB0D0 + i)
           NEXT i
           ' Clear the interrupt flag
           WriteByte(CANINTF, 0)
           RETURN CAN_RX_Buf
       ENDIF
   WEND
END FUNC

' Main program
PRINT "--------------------------------------------------------"
PRINT "Initializing CAN..."
Init("125KBPS")
PRINT "Sending data..."
id = &H123 ' Example CAN ID
data = [1, 2, 3, 4, 5, 6, 7, 8] ' Example data
dlc = 8
Send(id, data, dlc)

' Loop to receive data
WHILE TRUE
   readbuf = Receive(id)
   PRINT "Received Data: "; readbuf
   PAUSE 500
WEND

PRINT "--------------------------------------------------------"