AA_MCP2515

MCP2515 CAN Controller Library for Arduino

Features

• Supports the Microchip MCP2510, and MCP2515 CAN Controllers.

• Crystals - 8, 10, 16, 20 MHz crystals are preconfigured. Any other crystal speed can be added via CANConfig.

• Bitrate - 10, 20, 50, 125, 250, 500, 1000 (kbit/s) (kbps) are preconfigured. Any other bitrate can be added via CANConfig.

• Interrupts - Support for receive, and wakeup interrupts.

• Filters - Support for receive filters based on 11-bit and 29-bit ID's.

• Many examples included to easily add CAN to your project.

Connections

MCP2515	Uno	Nano	Leonardo	Mega
SPI CS (SS)	10	10	10	53
SPI MOSI (SI)	11	11	11	51
SPI MISO (SO)	12	12	12	50
SPI Clock (SCK)	13	13	13	52
Interrupt (INT)	2	2	2	2

Example Usage

Note: Refer to the examples folder for complete ready to run examples.

CANConfig

#include "AA_MCP2515.h"

const CANBitrate::Config CAN_BITRATE = CANBitrate::Config_8MHz_500kbps;
const uint8_t CAN_CS = 10;
const int8_t CAN_INT = 2;

CANConfig config(CAN_BITRATE, CAN_CS, CAN_INT);

// -or- specify SPI, and SPI speed

const uint32_t CAN_SPI_HZ = 8000000;
CANConfig config(CAN_BITRATE, CAN_CS, CAN_INT, SPI, CAN_SPI_HZ);

CANController

CANController CAN(config);
CAN.begin(CANController::Mode::Normal);

Transmit

uint8_t data[] = { 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07 };

CANFrame frame(0x100, data, sizeof(data));
CAN.write(frame);

// -or-

CAN.write(0x100, data, sizeof(data));

Receive

CANFrame frame;
if (CAN.read(frame) == CANController::IOResult::OK) {
    frame.print("RX");
}