+int lpc17xx_set_bittiming(struct canchip_t *chip, int brp, int sjw, int tseg1, int tseg2){
+
+ uint8_t SAM = 0; // 0 = the bus is sampled once
+
+ if((--brp)<0)
+ return -EINVAL;
+
+ if((--sjw)<0)
+ return -EINVAL;
+
+ if((--tseg1)<0)
+ return -EINVAL;
+
+ if((--tseg2)<0)
+ return -EINVAL;
+
+
+ //debug print
+ printf("BRP: %d, SJW: %d, TSEG1: %d, TSEG2: %d \n", brp+1, sjw+1, tseg1+1, tseg2+1);
+
+ can_disable_irq(chip->chip_irq);
+
+ // enter reset mode
+ can_write_reg(chip, 1, CAN_MOD_o);
+
+ // set bittiming register
+ can_write_reg(chip, ((SAM<<23)|(tseg2<<20)|(tseg1<<16)|(sjw<<14)|(brp<<0)), CAN_BTR_o);
+
+ // return to normal operating
+ can_write_reg(chip, 0, CAN_MOD_o);
+
+ can_enable_irq(chip->chip_irq);
+
+ return 0;
+}
+