Attention: this is a legacy library and thus not supported by Toradex anymore. We recommend that you use the new libraries for all Toradex modules. Please see the Toradex CE Libraries and Code Samples for up-to-date information.
This library interfaces to the MCP2515 Stand-Alone CAN Controller throuh an SPI interface.
V2.0
The MCP2515 is available on the following Toradex hardware
| Toradex Hardware | Notes |
|---|---|
| Colibri Evaluation Board | The Evaluation Board contains the MCP2515 along with electrical isolation and line drivers. Any Colibri module can control the MCP2515 through the regular SPI interface |
| Apalis T30 | The Apalis T30 contains 2x MCP2515 CAN controllers. The matching line drivers and electrical isolation are not part of the module, but are for example implemented on the Apalis Evaluation Board. |
The library supports up to four instances of the interface on Colibri modules and up to five instances on Apalis modules.
Attention!
The current implementation of the MCP2515 library is based on a generic SPI implementation.
Along with the fact, that the MCP2515 only provides buffers for 2 CAN messages, the system may loose messages in an environment, where the CAN bus is running at high speed, and 3 or more messages are transmitted over the CAN bus in short intervals.
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CANMCP2515 and Colibri PXAxxx
The CAN support for Colibri PXAxxx modules is broken. If you require a fix, please contact the Colibri support. The fix would reduce the performance of the SPI library.
The library API can be viewed here.
| Date | Rev | Change Notes |
|---|---|---|
| 29/06/2015 | V2.0 | Fixed pin configuration (was an issue on PXA300 only). Fixed SPI port assignments for Apalis T30 Add support for additional SPI channels on Apalis T30 Performance improvements by using cached memory for read buffers. Fixed unwanted debug output "CANLibMCP2515 DestroyMessageBuffer - Cannot free Message Buffer" Fix issue that caused message loss when transmitting CAN messages. CANLibMCP2515ISRDll.dll is not required anymore |
| 10/30/2014 | V1.9 | Add support for 2nd MCP2515 CAN controller used in the same system. |
| 09/07/2014 | V1.8 | Minor performance improvement in SetMode() Remove unused declarations and code from mcp2515.h and mcp2515.c Removed dependency to IsrDll.dll. IsrDll.dll is not required anymore Support for two coexistent MCP2515 controllers Fix wrong parameter validation for parameter "device" in various functions Fix McpCanLib for PXA procesors Fix wrong generation of CAN IDs when transmitting a message |
| 27/05/2014 | V1.7 | Add support for Apalis on-board CAN interfaces For CAN device 0, use SPI1 on Colibri T30 (was SPI4) Fixed bug that caused Bit 23 of extended message IDs to be cleared to 0. |
| 15/04/2014 | V1.6 | CANLibMCP2515TransmitMessage(): add timeout parameter Use SPI busy-loop polling to minimize latency Support 2nd CAN interface Fix wrong interpretation of function result in CANLibMCP2515Init() |
| 23/09/2013 | V1.5 | Change default SDK to Colibri600 Workaround for Silicon Erratum that could lead to duplicated CAN messages (use RTS command to send messages) |
| 12/08/2013 | V1.4.1 | Changed MCP2515 Interrupt to be level triggered rather than edge triggered. |
