README.md

107-Arduino-MCP2515

Arduino library for controlling the MCP2515 in order to receive/transmit CAN frames. This library is prepared to interface easily with libcanard for using UAVCAN on Arduino via 107-Arduino-UAVCAN.

This library works for

• ArduinoCore-samd: Arduino Zero, MKR 1000, MKR WiFi 1010, Nano 33 IoT, MKR GSM 1400, MKR NB 1500, MKR WAN 1300/1310 ✔️
• ArduinoCore-mbed: Portenta H7, Nano 33 BLE ✔️

Example

#include <SPI.h>
#include <ArduinoMCP2515.h>
/* ... */
static int const MKRCAN_MCP2515_CS_PIN  = 3;
static int const MKRCAN_MCP2515_INT_PIN = 7;
/* ... */
void    spi_select            ()                                                           { digitalWrite(MKRCAN_MCP2515_CS_PIN, LOW); }
void    spi_deselect          ()                                                           { digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH); }
uint8_t spi_transfer          (uint8_t const data)                                         { return SPI.transfer(data); }
void    onReceiveBufferFull   (uint32_t const timestamp_us, uint32_t const id, uint8_t const * data, uint8_t const len) { Serial.println(id, HEX); }
void    onTransmitBufferEmpty (ArduinoMCP2515 * this_ptr)                                  { /* You can use this callback to refill the transmit buffer via this_ptr->transmit(...) */ }
void    onMCP2515ExternalEvent()                                                           { mcp2515.onExternalEventHandler(); }
/* ... */
ArduinoMCP2515 mcp2515(spi_select, spi_deselect, spi_transfer, micros, onReceiveBufferFull, onTransmitBufferEmpty);
/* ... */
void setup() {
  Serial.begin(9600);
  while(!Serial) { }

  SPI.begin();
  pinMode(MKRCAN_MCP2515_CS_PIN, OUTPUT);
  digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH);

  pinMode(MKRCAN_MCP2515_INT_PIN, INPUT_PULLUP);
  attachInterrupt(digitalPinToInterrupt(MKRCAN_MCP2515_INT_PIN), onMCP2515ExternalEvent, FALLING);

  mcp2515.begin();
  mcp2515.setBitRate(CanBitRate::BR_250kBPS);
  mcp2515.setNormalMode();
}

void loop() {
  uint8_t const data[8] = {0xDE, 0xAD, 0xBE, 0xEF, 0xDE, 0xAD, 0xBE, 0xEF};
  mcp2515.transmit(1 /* id */, data, 8 /* len */);
  delay(100);
}