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 *      Pointer to the CAN message storage buffer.
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 *      Pointer to the CAN message storage buffer.
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 * @return
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 * @return
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 *      CAN_OK if the message was successfully sent (or put in queue).
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 *      CAN_OK if the message was successfully sent (or put in queue).
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 *      CAN_FAILTX if the controller is busy AND the transmission queue is full.
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 *      CAN_FAILTX if the controller is busy AND the transmission queue is full.
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 */
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 */
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CanReturn_t CanSend(const CanMessage_t* msg) {
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CanReturn_t CanSend(CanMessage_t* msg) {
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#ifdef CAN_CONTROLLER_MCP2515
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#ifdef CAN_CONTROLLER_MCP2515
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    uint8_t res, txbuf_n;
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    uint8_t res, txbuf_n;
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    res = mcp2515_getNextFreeTXBuf(&txbuf_n); // info = addr.
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    res = mcp2515_getNextFreeTXBuf(&txbuf_n); // info = addr.
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    if (res == MCP_ALLTXBUSY) {
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    if (res == MCP_ALLTXBUSY) {