bool mcp2515_init(void)
{
char str[80];
unsigned int test_value;

SET(MCP2515_CS);
SET_OUTPUT(MCP2515_CS);

SET(USB_CS);
//SET_OUTPUT(USB_CS);

SET(SD_CS);
//SET_OUTPUT(SD_CS);

RESET(P_SCK);
RESET(P_MOSI);
RESET(P_MISO);

SET_OUTPUT(P_SCK);
SET_OUTPUT(P_MOSI);
SET_INPUT(P_MISO);

SET_INPUT(MCP2515_INT);
SET(MCP2515_INT);

// active SPI master interface
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR0);
SPSR = 0;

// reset MCP2515 by software reset.
// After this he is in configuration mode.
RESET(MCP2515_CS);
spi_putc(SPI_RESET);
SET(MCP2515_CS);

// wait a little bit until the MCP2515 has restarted
_delay_us(15);

// load CNF1..3 Register
RESET(MCP2515_CS);

spi_putc(SPI_WRITE);
spi_putc(CNF3);

spi_putc((1<<PHSEG21));  // Bitrate 125 kbps at 16 MHz
spi_putc((1<<BTLMODE)|(1<<PHSEG11));
spi_putc((1<<BRP2)|(1<<BRP1)|(1<<BRP0));



// activate interrupts
spi_putc((1<<RX1IE)|(1<<RX0IE));
SET(MCP2515_CS);


test_value = mcp2515_read_register(CANCTRL);
sprintf(str, "test value is [%d]nn",test_value);
UART1_TxString(str);

// test if we could read back the value => is the chip accessible?
if (mcp2515_read_register(CNF1) != ((1<<BRP2)|(1<<BRP1)|(1<<BRP0))) {

    return false;
}

// deaktivate the RXnBF Pins (High Impedance State)
mcp2515_write_register(BFPCTRL, 0);

// set TXnRTS as inputs
mcp2515_write_register(TXRTSCTRL, 0);

// turn off filters => receive any message
mcp2515_write_register(RXB0CTRL, (1<<RXM1)|(1<<RXM0));
mcp2515_write_register(RXB1CTRL, (1<<RXM1)|(1<<RXM0));

// reset device to normal mode
mcp2515_write_register(CANCTRL, 0);

return true;
}