WiFi + MCP2515 (CAN over SPI) = nightmare

[psykokwak-com]

Hardware:

Board: Custom board based on ESP32 Wrower module
Core Installation/update date: IDF & Arduino up to date
IDE name: IDF Component (mingw)
Flash Frequency: 40Mhz
Upload Speed: 115200

Description:

I try to make the WiFi and my CAN (over SPI) communication working together but I have no succes :/
If I comment the "WiFi.softAP()" line, the CAN link works well.
If I uncomment this line, I have read and write error and after few seconds (random time), the ESP32 crashs.

I use this CAN library https://github.com/coryjfowler/MCP_CAN_lib but I tried with this other one https://github.com/sandeepmistry/arduino-CAN and I had the same results.
I tried to build the sketch with the ArduinoIDE... The same.

I have no more idea. Is it possible to have a conflict between the SPI and WiFi link or a memory leak on the WiFi stack ?

Here the link with the mcp_can library (I changed it a bit) :
modified_mcp_can.zip

No need to have CAN device attached to.

Sketch:

#include <Arduino.h>
#include <SPI.h>
#include <WiFi.h>
#include <WiFiAP.h>

#include "mcp_can.h"


#define VSPI_CLOCK_PIN        4
#define VSPI_MOSI_PIN         15
#define VSPI_MISO_PIN         32
#define VSPI_CS_MCP2515_PIN   25

#define CANBUFFERSIZE         8
#define CAN_INT_MCP2515_PIN   4

#define DAMACCANID            0x00A

#define myTAG                 "SPIandWiFI"

void setup()
{
  esp_log_level_set("*", ESP_LOG_VERBOSE);

  SPIClass mffVSPI = SPIClass(VSPI);
  mffVSPI.begin(VSPI_CLOCK_PIN, VSPI_MISO_PIN, VSPI_MOSI_PIN);
  //pinMode(VSPI_MOSI_PIN, INPUT_PULLUP);
  //pinMode(VSPI_MISO_PIN, INPUT_PULLUP);

  MCP_CAN mffCAN(VSPI_CS_MCP2515_PIN);
  mffCAN.begin(mffVSPI, MCP_ANY, CAN_250KBPS, MCP_8MHZ);
  mffCAN.setMode(MCP_NORMAL);

  byte dataOperationMode[] = { 0x01, 0x00 };
  mffCAN.sendMsgBuf(0x00, 2, dataOperationMode);

  byte dataSetDisplay[] = { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x08 };
  mffCAN.sendMsgBuf((0x20 << 4) + DAMACCANID, 8, dataSetDisplay);

  // If I comment this line, the CAN bus works well.
  WiFi.softAP("WIFI Sucks", "fuckingWiFi");

  unsigned long id = 0;
  byte len = CANBUFFERSIZE;
  byte buffer[CANBUFFERSIZE];

  unsigned long m = millis();

  while (42)
  {
    if (millis() / 100 != m / 100)
    {
      byte r;
      byte dataRequest[] = { 0x00 };

      r = mffCAN.sendMsgBuf(((0x28 << 4) + DAMACCANID) | 0x40000000, 0, dataRequest);
      if (r != CAN_OK)
        ESP_LOGW(myTAG, "CAN: Error Damac sending frame");

      m = millis();
    }

    if (mffCAN.checkReceive() != CAN_MSGAVAIL)
      continue;

    if (mffCAN.readMsgBuf(&id, &len, buffer) != CAN_OK)
    {
      ESP_LOGW(myTAG, "CAN: readMsgBuf returned an error");
      continue;
    }

    if (len != 8)
    {
      ESP_LOGW(myTAG, "CAN: wrong frame length : %d", len);
      continue;
    }

    //if (!damacProcessIn(id, len, buffer))
    {
      //ESP_LOGW(myTAG, "CAN: unknown Damac frame : %d", len);
      continue;
    }
  }
}


void loop()
{

}

Debug Messages:

ets Jun  8 2016 00:22:57

rst:0xc (SW_CPU_RESET),boot:0x33 (SPI_FAST_FLASH_BOOT)
configsip: 0, SPIWP:0xee
clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00
mode:DIO, clock div:2
load:0x3fff0018,len:4
load:0x3fff001c,len:756
load:0x40078000,len:5972
ho 0 tail 12 room 4
load:0x40080000,len:6704
0x40080000: _WindowOverflow4 at C:/msys32/home/Jyce/esp/esp-idf/components/freertos/xtensa_vectors.S:1685

entry 0x400802e4
0x400802e4: _NMIExceptionVector at ??:?

I (276) cpu_start: Pro cpu up.
I (276) cpu_start: Starting app cpu, entry point is 0x40081030
0x40081030: call_start_cpu1 at C:/msys32/home/Jyce/esp/esp-idf/components/esp32/cpu_start.c:225

I (261) cpu_start: App cpu up.
I (277) heap_init: Initializing. RAM available for dynamic allocation:
D (282) heap_init: New heap initialised at 0x3ffae6e0
I (287) heap_init: At 3FFAE6E0 len 00001920 (6 KiB): DRAM
D (292) heap_init: New heap initialised at 0x3ffba488
I (297) heap_init: At 3FFBA488 len 00025B78 (150 KiB): DRAM
I (302) heap_init: At 3FFE0440 len 00003BC0 (14 KiB): D/IRAM
I (307) heap_init: At 3FFE4350 len 0001BCB0 (111 KiB): D/IRAM
D (314) heap_init: New heap initialised at 0x40090ab4
I (318) heap_init: At 40090AB4 len 0000F54C (61 KiB): IRAM
I (323) cpu_start: Pro cpu start user code
D (334) clk: RTC_SLOW_CLK calibration value: 3291085
D (119) intr_alloc: Connected src 46 to int 2 (cpu 0)
D (120) intr_alloc: Connected src 57 to int 3 (cpu 0)
D (121) stack_chk: Intialize random stack guard
D (124) intr_alloc: Connected src 24 to int 9 (cpu 0)
I (129) cpu_start: Starting scheduler on PRO CPU.
D (0) intr_alloc: Connected src 25 to int 2 (cpu 1)
I (4) cpu_start: Starting scheduler on APP CPU.
D (150) heap_init: New heap initialised at 0x3ffe0440
D (155) heap_init: New heap initialised at 0x3ffe4350
D (160) intr_alloc: Connected src 16 to int 12 (cpu 0)
D (165) nvs: nvs_flash_init_custom partition=nvs start=9 count=5
D (195) nvs: nvs_open_from_partition misc 1
D (196) nvs: nvs_get_str_or_blob log
I (196) wifi: wifi driver task: 3ffc42e4, prio:23, stack:4096, core=0
I (198) wifi: wifi firmware version: a7a46e9
I (202) wifi: config NVS flash: enabled
I (205) wifi: config nano formating: disabled
I (209) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE
I (218) system_api: Base MAC address is not set, read default base MAC address from BLK0 of EFUSE
D (226) nvs: nvs_open_from_partition nvs.net80211 1
D (231) nvs: nvs_get opmode 1
D (234) nvs: nvs_get_str_or_blob sta.ssid
D (238) nvs: nvs_get_str_or_blob sta.mac
D (241) nvs: nvs_get sta.authmode 1
D (244) nvs: nvs_get_str_or_blob sta.pswd
D (248) nvs: nvs_get_str_or_blob sta.pmk
D (252) nvs: nvs_get sta.chan 1
D (255) nvs: nvs_get auto.conn 1
D (258) nvs: nvs_get bssid.set 1
D (261) nvs: nvs_get_str_or_blob sta.bssid
D (265) nvs: nvs_get sta.lis_intval 2
D (268) nvs: nvs_get sta.phym 1
D (271) nvs: nvs_get sta.phybw 1
D (274) nvs: nvs_get_str_or_blob sta.apsw
D (277) nvs: nvs_get_str_or_blob sta.apinfo
D (283) nvs: nvs_get sta.scan_method 1
D (285) nvs: nvs_get sta.sort_method 1
D (288) nvs: nvs_get sta.minrssi 1
D (291) nvs: nvs_get sta.minauth 1
D (294) nvs: nvs_get_str_or_blob ap.ssid
D (298) nvs: nvs_get_str_or_blob ap.mac
D (302) nvs: nvs_get_str_or_blob ap.passwd
D (306) nvs: nvs_get_str_or_blob ap.pmk
D (309) nvs: nvs_get ap.chan 1
D (312) nvs: nvs_get ap.authmode 1
D (315) nvs: nvs_get ap.hidden 1
D (318) nvs: nvs_get ap.max.conn 1
D (321) nvs: nvs_get bcn.interval 2
D (324) nvs: nvs_get ap.phym 1
D (327) nvs: nvs_get ap.phybw 1
D (330) nvs: nvs_get ap.sndchan 1
D (333) nvs: nvs_get lorate 1
D (336) nvs: nvs_set_blob sta.mac 6
D (344) nvs: nvs_set_blob ap.mac 6
I (345) wifi: Init dynamic tx buffer num: 32
I (346) wifi: Init data frame dynamic rx buffer num: 64
I (351) wifi: Init management frame dynamic rx buffer num: 64
I (356) wifi: Init static tx buffer num: 16
I (361) wifi: Init static rx buffer size: 1600
I (364) wifi: Init static rx buffer num: 10
I (368) wifi: Init dynamic rx buffer num: 0
D (373) RTC_MODULE: Wi-Fi takes adc2 lock.
D (376) phy_init: loading PHY init data from application binary
D (382) nvs: nvs_open_from_partition phy 0
D (385) nvs: nvs_get cal_version 4
D (389) nvs: nvs_get_str_or_blob cal_mac
D (392) nvs: nvs_get_str_or_blob cal_data
D (400) nvs: nvs_close 3
I (496) phy: phy_version: 3910, c0c45a3, May 21 2018, 18:07:06, 0, 0
I (497) wifi: mode : softAP (30:ae:a4:3f:69:39)
D (501) _eventCallback: Event: 0 - WIFI_READY
D (502) event: SYSTEM_EVENT_AP_START
D (504) tcpip_adapter: dhcp server start:(ip: 192.168.4.1, mask: 255.255.255.0, gw: 192.168.4.1)
D (511) _eventCallback: Event: 13 - AP_START
W (531) SPIandWiFI: CAN: Error Damac sending frame
W (634) SPIandWiFI: CAN: Error Damac sending frame
W (708) SPIandWiFI: CAN: readMsgBuf returned an error
W (709) SPIandWiFI: CAN: readMsgBuf returned an error
W (731) SPIandWiFI: CAN: Error Damac sending frame
W (831) SPIandWiFI: CAN: Error Damac sending frame
W (913) SPIandWiFI: CAN: readMsgBuf returned an error
W (914) SPIandWiFI: CAN: wrong frame length : 14
W (915) SPIandWiFI: CAN: wrong frame length : 1
W (916) SPIandWiFI: CAN: wrong frame length : 0
W (922) SPIandWiFI: CAN: readMsgBuf returned an error
W (925) SPIandWiFI: CAN: wrong frame length : 0
W (931) SPIandWiFI: CAN: readMsgBuf returned an error
W (934) SPIandWiFI: CAN: wrong frame length : 0
W (938) SPIandWiFI: CAN: wrong frame length : 4
W (944) SPIandWiFI: CAN: readMsgBuf returned an error
W (948) SPIandWiFI: CAN: wrong frame length : 0
W (951) SPIandWiFI: CAN: wrong frame length : 4
W (957) SPIandWiFI: CAN: readMsgBuf returned an error
W (961) SPIandWiFI: CAN: wrong frame length : 0
W (964) SPIandWiFI: CAN: wrong frame length : 4
W (971) SPIandWiFI: CAN: readMsgBuf returned an error
W (974) SPIandWiFI: CAN: wrong frame length : 0
W (978) SPIandWiFI: CAN: wrong frame length : 4
W (984) SPIandWiFI: CAN: readMsgBuf returned an error
W (987) SPIandWiFI: CAN: wrong frame length : 0
W (991) SPIandWiFI: CAN: wrong frame length : 4
W (997) SPIandWiFI: CAN: readMsgBuf returned an error
Guru Meditation Error: Core  1 panic'ed (LoadProhibited). Exception was unhandled.
Core 1 register dump:
PC      : 0x40135bb2  PS      : 0x00060830  A0      : 0x800f0304  A1      : 0x3ffc07f0
0x40135bb2: spiGetClockDiv at C:/msys32/home/Jyce/esp/arduino/components/arduino/cores/esp32/esp32-hal-spi.c:290

A2      : 0x00008100  A3      : 0x3ffae944  A4      : 0x00000050  A5      : 0x00000000
A6      : 0x00000000  A7      : 0x00000000  A8      : 0x80082e5a  A9      : 0x3ffc04b0
A10     : 0x3ffbe434  A11     : 0x00000004  A12     : 0x3ffc0734  A13     : 0x3ffae944
A14     : 0x00000000  A15     : 0x00000000  SAR     : 0x0000000a  EXCCAUSE: 0x0000001c
EXCVADDR: 0x00008118  LBEG    : 0x400014fd  LEND    : 0x4000150d  LCOUNT  : 0xfffffffd

Backtrace: 0x40135bb2:0x3ffc07f0 0x400f0301:0x3ffc0810 0x400ea79e:0x3ffc0840 0x400eafa5:0x3ffc0870 0x400ea4f4:0x3ffc0890 0x400e2b0f:0x
3ffc0920
0x40135bb2: spiGetClockDiv at C:/msys32/home/Jyce/esp/arduino/components/arduino/cores/esp32/esp32-hal-spi.c:290

0x400f0301: SPIClass::beginTransaction(SPISettings) at C:/msys32/home/Jyce/esp/arduino/components/arduino/libraries/SPI/src/SPI.cpp:26
5

0x400ea79e: MCP_CAN::mcp2515_readStatus() at C:/msys32/home/Jyce/esp/arduino/main/mcp_can.cpp:998

0x400eafa5: MCP_CAN::checkReceive() at C:/msys32/home/Jyce/esp/arduino/main/mcp_can.cpp:998

0x400ea4f4: setup() at C:/msys32/home/Jyce/esp/arduino/main/SentinelSimpleFirmwareMain.cpp:79

0x400e2b0f: loopTask(void*) at C:/msys32/home/Jyce/esp/arduino/components/arduino/cores/esp32/main.cpp:15


Rebooting...

[collin80]

Here's what I can tell you, it isn't the ESP32 or Arduino-esp32. When I use my own MCP2515 library on the ESP32 I can then connect over wifi and through a TCP/IP port I can saturate the CAN bus at 500k and stream all the traffic to a connected computer without anything crashing. So, the SPI and WiFi libraries work perfectly fine together. It has to be the MCP2515 libraries you're using.

[psykokwak-com]

Hi Collin80,
Thanks for your answer. I will check on the hardware side of my board.
Is it possible for you to share your mcp2515 library ?
Which IDF and Arduino library version do you use ?
Thanks for your help.

[lefedor]

Hello, can confirm I use constantly esp32 + mcp2515 (coryjfowler/MCP_CAN_lib) .
If You try with popular aliexpress/* module - want ask You if You've modded it to work from 3.3V (hardware mod required cause TJA wants 5V, MCP is fine at 3.3V) and also If You try apply ballast resistor (required for short lines, there is jumper on board for it). Also, of course - want ask You if You run example sketches - is module Initializing OK? If it's OK - than issue really at line side.

[psykokwak-com]

Ok, It's an hardware issue. My code works well with a simple ESP32 and an MCP2515 modules.
I will take a look on the hardware side.
Thanks.

[psykokwak-com]

Just for information because I find the error :
I used an MCP2515 in 5V and the ESP32 bus is 3.3V.
Now I use the MCP2515 in 3.3V with a MCP2562 tranceiver and everything work well!

[brandonros]

Why did you need both MCP2515 and MCP2562?

[dpharris]

Why not use the built-in CAN controller? David

…

On Wed, Nov 6, 2019 at 4:12 PM Brandon Ros ***@***.***> wrote: Why did you need both MCP2515 and MCP2562? — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#1670?email_source=notifications&email_token=AAEDQSTGJB34HZVEJBZ56RDQSNMNZA5CNFSM4FLUJEA2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEDIOAGA#issuecomment-550559768>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAEDQSUVK54STCY2WM6SXNLQSNMNZANCNFSM4FLUJEAQ> .

[brandonros]

I finally got around to getting this working.

• MELIFE 2 Pack ESP32 ESP-32S Development Board 2.4GHz Dual-Mode WiFi + Bluetooth Dual Cores Microcontroller Processor Integrated with ESP32s Antenna RF AMP Filter AP STA for Arduino IDE: https://www.amazon.com/gp/product/B07Q576VWZ

• Comidox 3Pcs MCP2515 CAN Bus Module TJA1050 Receiver SPI Module for Arduino 51 MCU ARM Controller Development Board: https://www.amazon.com/Comidox-MCP2515-Receiver-Controller-Development/dp/B07J9KZ4L4

I included wiring coloring I pulled out of thin air below. I apologize in advance if they don't follow some common spec I should know.

Format: MPC2515 shield -> ESP32 DEVKIT V1 pin

• VCC -> 3v3 (red)
• GND -> GND (black)
• INT -> GPIO16 (purple, pick any random GPIO unused; any GPIO can be INT apparently?)
• SI -> GPIO23 (green, VSPI MOSI)
• SO -> GPIO19 (white, VSPI MOSO)
• SCK -> GPIO18 (orange, VSPI CLK)
• CS -> GPIO5 (blue, VSPI CS0)

#include <mcp_can.h>
#include <mcp_can_dfs.h>
#include <SPI.h>
#include <iso-tp.h>
#include <WiFi.h>
#include <WebSocketsServer.h>

#define MCP_CS 5 // GPIO5 = VSPI CS0
#define MCP_INT 16 // GPIO16

WiFiServer webServer(8080);
WebSocketsServer socketServer = WebSocketsServer(8081);
MCP_CAN CAN0(MCP_CS);
IsoTp isotp(&CAN0, MCP_INT);

struct Message_t rxMsg;

void webSocketEvent(uint8_t num, WStype_t type, uint8_t* payload, size_t length) {
  switch (type) {
    case WStype_DISCONNECTED:
    case WStype_CONNECTED:
    case WStype_TEXT:  
    case WStype_BIN:
    case WStype_ERROR:
    case WStype_FRAGMENT_TEXT_START:
    case WStype_FRAGMENT_BIN_START:
    case WStype_FRAGMENT:
    case WStype_FRAGMENT_FIN:
    break;
  }
}

void setup()
{
  // serial
  Serial.begin(115200);
  // interrupt
  pinMode(MCP_INT, INPUT);
  // CAN
  CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_8MHZ);
  CAN0.setMode(MCP_NORMAL);
  // buffers
  rxMsg.Buffer = (uint8_t *)calloc(MAX_MSGBUF, sizeof(uint8_t));
  // wifi
  WiFi.softAP("ssid", "password");
  // socket server
  socketServer.onEvent(webSocketEvent);
  socketServer.begin();
  // web server
  webServer.begin();
}

void loop()
{
  // socket server
  socketServer.loop();
  // web server
  WiFiClient client = webServer.available();
  if (client) {
    String buffer = "";
    while (client.connected()) {
      while (client.available()) {
        buffer += client.read(); 
      }
      client.println("HTTP/1.1 200 OK");
      client.println("Content-type: text/html");
      client.println();
      client.print("Click <a href=\"/H\">here</a> to turn the LED on pin 5 on.<br>");
      client.println();
      client.stop();
      break;
    }
  }
  // CAN
  if (digitalRead(MCP_INT) == 0) {
    rxMsg.tx_id = 0x7ED;
    rxMsg.rx_id = 0x7E5;
    Serial.println(F("Receive..."));
    isotp.receive(&rxMsg);
    isotp.print_buffer(rxMsg.rx_id, rxMsg.Buffer, rxMsg.len);
  }
}

I had to fork and fix the iso-tp library here: altelch/iso-tp#11

I git cloned that in C:\Users\USERNAME\Documents\Arduino\libraries. I tried Mac but the CP210x driver for the Silicon Labs chip for Mac OS X 10.15.7 Catalina just seems 100% broken.

I used Arduino IDE 1.8.13. I added arduino-esp32 to Board Manager.

[psykokwak-com]

Why did you need both MCP2515 and MCP2562?

One is a SPI <> CAN controller. The other one is a CAN transceiver. The two are needed for the operation.

Why not use the built-in CAN controller? David

Because of my electric wiring that already use the ESP32 pins.

[pipehappy1]

Come across this, but the very likely reason we need MCP2515 is esp32 has one and only one CAN controller.

Why not use the built-in CAN controller? David
…
On Wed, Nov 6, 2019 at 4:12 PM Brandon Ros @.***> wrote: Why did you need both MCP2515 and MCP2562? — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#1670?email_source=notifications&email_token=AAEDQSTGJB34HZVEJBZ56RDQSNMNZA5CNFSM4FLUJEA2YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEDIOAGA#issuecomment-550559768>, or unsubscribe https://github.com/notifications/unsubscribe-auth/AAEDQSUVK54STCY2WM6SXNLQSNMNZANCNFSM4FLUJEAQ .