:bug: Bug Report

On a Nano 33 BLE with a MPC2515, the UAVCAN-Heartbeat-Publish example locks up. The problem appears to be related to locking and/or interrupts, as it hangs when trying to aquire a lock. I managed to get it work by commenting out the locking code and disabling the interrupt.

I'm not entirely certain if this is truely a software bug. Perhaps this could also be caused by a wiring issue or misconfiguration?

// CritSec-mbed.cpp
extern "C" void crit_sec_enter() {}
extern "C" void crit_sec_leave() {}

// UAVCAN-Heartbeat-Publish.ino in void setup()
pinMode(MKRCAN_MCP2515_INT_PIN, INPUT_PULLUP);
// attachInterrupt(digitalPinToInterrupt(MKRCAN_MCP2515_INT_PIN), onExternalEvent, FALLING);

Minimum configuration to replicate the bug

• Build Toolchain: 1.8.15
• Arduino Core: Mbed Nano 2.5.2
• Library Version: 107-Arduino-UAVCAN 1.4.0, 107-Arduino-MCP2515 1.3.2

I am curious if anyone has observed something like this...

When running the sniffer example I get a few transmissions and then it stops and I find that the MCP2515 Interrupt pin is LOW. It appears to be a missed interrupt which stops the library. I added some test code to check for the stale interrupt pin and run the handler to get things going again and it works fine.

Note that it is possible some other hardware event is the root cause. I just found it an interesting observation.

Setup: Custom Board, ESP32 with MCP2515 and MCP2551 to an automotive canbus. Using HSPI on the ESP32 for the MCP2515 Interface.

This PR addresses the use of the library while transmitting UAVCAN frames at high speed (single and multi frame messages).

The issue was found when tryint to transmit IMU data at +50Hz and it was observed that many frames where propped on the transport layer. Investigation with candump showed that the error was in the message itself. by adding a small delay between frame transmission, they number of error layers dropeed significantly.

I did this the simplest way I could think of, so if there are any mods that are needed for more compatibility, or better ways to acheive this, please let me know and I am happy to make the changes.

Before the fix 1152 Transport Layer errors in less than a minute of up time

After applying the fix

at the moment the library uses 11-bit CAN-IDs but UAVCAN uses extended 29-bit CAN-IDs. See this forum post: https://forum.uavcan.org/t/receiving-heartbeat-message-with-pyuavcan-cli/1035/4?u=generationmake

Hi,

I've been debugging this for way too long and need help. I am able to send CAN frames out onto the CAN bus, however I am not able to receive frames. That is because the interrupt pin on the MCP2515 is constant low. The low state is triggered if I send a CAN frame or if there is any traffic on the bus. When the interrupt pin is in its low state the arduino stalls and i have to reset both the arduino and the MCP2515.

If I instead disconnect the interrupt pin from the arduino 33 BLE I can send multiple frames no problem. However the interrupt pin on the MCP2515 is still low which it shouldn't be. I am using the example code and have tried both the sniffer and loopback examples with giving me the same behavior.

I'm at a loss at how to proceed. Any suggestions are very much appreciated!

This PR adds the feature of automatically supporting the libcanard defined CanardFrame type for receiving/transmitting of CAN frames when libcanard is present in the build project. Therefore this PR prepares the repository being included in UAVCAN/platform_specific_components as dicusssed in https://github.com/UAVCAN/platform_specific_components/issues/15 .

What do you think @pavel-kirienko ?

This reduces the amount of SPI transactions in a network with heavy CAN traffic where no reception by a CAN node is required.

@generationmake can you please test?

⚡ Feature Request

Please Describe The Problem To Be Solved I apologize if my google-fu is just failing me and this is documented somewhere, but I'm not sure what to select for the "CanBitRate" during initialization. For example, "BR_500kBPS_16MHZ"... I imagine that the 500kBPS is the can bus speed, but the "_16MHZ"... what does that refer to? I am wondering if this pertains to the oscillator that is used on the can bus interface chip. For example, my MCP2515 boards have an 8MHz oscillator on them. Should I change this enumeration to use the "_8MHZ" variants? Or is this frequency something else related to the canbus that I don't understand?

(Optional): Suggest A Solution Update the example programs in "examples" directory to have a comment around the lines suggesting how users set the CanBitRate enumeration. Also the example in the README.md file.

Hi

I am getting this error:

sketch\ArduinoMCP2515.cpp.o:(.text._ZN7MCP251514MCP2515_Config13enableIntFlagENS_7CANINTEE[MCP2515::MCP2515_Config::enableIntFlag(MCP2515::CANINTE)]+0x0): undefined reference to MCP2515::MCP2515_Io::setBit(MCP2515::Register, unsigned char)

Could this be because I am trying to build for ESP8266 which may not be supported? Or did I do something dumb?

added some small inline comments to provoke developers to make sure they adjust these lines and also explain that the suffix frequency is related to the oscillator/clock rate of the MCP2515 chip they are using.

Hello, I have been trying to use this library along with UAV CAN to make some proof of concepts for a project. I have not been able to use this library along with the ArduinoCore-mbed (using the RP2040). I just dont manage to get any communications via CAN even with the loopback example. The is no error message, just there is no communications. My current wiring is:

static const byte MCP2515_SCK   = 18;
static const byte MCP2515_MOSI  = 19;
static const byte MCP2515_MISO  = 16;
static const byte MCP2515_CS    = 17;
static const byte MCP2515_INT   = 6;

I have been able to have both examples working with the standard arduino-pico library with the same wiring mentioned before, the issue is that it seems that that library is not compatible withe the UAVCAN library as when I try to compile the UAVCAN examples I get the following errors:

Error while detecting libraries included by /home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/libcanard/canard.c

Error while detecting libraries included by /home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/libcanard/canard_dsdl.c

Error while detecting libraries included by /home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/o1heap/o1heap.c

home/pepe/.arduino15/packages/rp2040/tools/pqt-gcc/1.3.1-a-7855b0c/bin/../lib/gcc/arm-none-eabi/10.3.0/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_632379/sketch/UAVCAN-Heartbeat-Publish.ino.cpp.o: in function `_ZN9LockGuardC4Ev':
/home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/utility/LockGuard.h:24: undefined reference to `crit_sec_enter'
/home/pepe/.arduino15/packages/rp2040/tools/pqt-gcc/1.3.1-a-7855b0c/bin/../lib/gcc/arm-none-eabi/10.3.0/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_632379/sketch/UAVCAN-Heartbeat-Publish.ino.cpp.o: in function `_ZN9LockGuardD4Ev':
/home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/utility/LockGuard.h:25: undefined reference to `crit_sec_leave'
/home/pepe/.arduino15/packages/rp2040/tools/pqt-gcc/1.3.1-a-7855b0c/bin/../lib/gcc/arm-none-eabi/10.3.0/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_632379/libraries/107-Arduino-UAVCAN/ArduinoUAVCAN.cpp.o: in function `_ZN9LockGuardC4Ev':
/home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/utility/LockGuard.h:24: undefined reference to `crit_sec_enter'
/home/pepe/.arduino15/packages/rp2040/tools/pqt-gcc/1.3.1-a-7855b0c/bin/../lib/gcc/arm-none-eabi/10.3.0/../../../../arm-none-eabi/bin/ld: /tmp/arduino_build_632379/libraries/107-Arduino-UAVCAN/ArduinoUAVCAN.cpp.o: in function `_ZN9LockGuardD4Ev':
/home/pepe/Arduino/libraries/107-Arduino-UAVCAN/src/utility/LockGuard.h:25: undefined reference to `crit_sec_leave'
collect2: error: ld returned 1 exit status

Any pointers would be greatly appreciated

:bug: Bug Report

Describe the bug

Datasheet: Esp32c3 datasheet Hi, I am trying use this lib on esp32c3 on arduino which has 3 spi.spi 2 is for normal use. By compare de loopback example. I am define cs pin 10, int pin 3. sck pin 6, mosi pin 7, miso pin 2. replace SPI.begin() to SPI.begin(6,2,7,-1); Everything looks working but cannot call int function onReceiveBufferFull.

I am adding this code and it shows ok

if(!mcp2515.transmit(frame.id, frame.data, frame.len)) {
                          Serial.println("ERROR TX");
                      }else{
                          Serial.println("OK TX");
                      }

I tried other mcp2515 library and get the same result. I am also tried anoter pin define. becuz esp32c3 said spi2 could be any pins. But nothing works.

Minimum example code to replicate the bug

void setup()
{
    pinMode (12, OUTPUT) ;
    digitalWrite (12, HIGH) ;
//--- Start serial
    Serial.begin (115200) ;
    while (!Serial);

    /* Setup SPI access */
    SPI.begin(6,2,7,-1);
    pinMode(MKRCAN_MCP2515_CS_PIN, OUTPUT);
    digitalWrite(MKRCAN_MCP2515_CS_PIN, HIGH);

    /* Attach interrupt handler to register MCP2515 signaled by taking INT low */
    pinMode(MKRCAN_MCP2515_INT_PIN, INPUT_PULLUP);
    attachInterrupt(digitalPinToInterrupt(MKRCAN_MCP2515_INT_PIN), [](){ mcp2515.onExternalEventHandler(); }, LOW);

    mcp2515.begin();
    mcp2515.setBitRate(CanBitRate::BR_250kBPS_16MHZ); // CAN bit rate and MCP2515 clock speed
    mcp2515.setLoopbackMode();

    std::for_each(CAN_TEST_FRAME_ARRAY.cbegin(),
                  CAN_TEST_FRAME_ARRAY.cend(),
                  [](sCanTestFrame const frame)
                  {
                      if(!mcp2515.transmit(frame.id, frame.data, frame.len)) {
                          Serial.println("ERROR TX");
                      }else{
                          Serial.println("OK TX");
                      }
                      delay(1000);
                  });
}

the terminal just shows: OK TX OK TX OK TX OK TX OK TX OK TX OK TX

Minimum configuration to replicate the bug Please provide the configuration data used to build Snowfox:

• Build Toolchain:Arduino IDE 2.0 and PlatformIO+CLion, both tried.
• Arduino Core: framework-arduinoespressif32 @ 3.20005.220925 (2.0.5)
• Library Version (of all involved libraries): 1.3.5

Hello! I'm trying to receive CAN frames with the Portenta and the MKR CAN shield using this library. However, I'm not able to receive anything. I'm trying the CAN sniffer example. The code compiles, but I do not see any data in the serial terminal. I visualize the CAN frame in an oscilloscope and it seems to be fine. Any idea why it might not be working? Update: I noticed that once the CAN frame starts to arrive to the Portenta, it enters in some sort of error mode (the RGB LED starts to blink in red). I even tried the loopback example without any physical CAN bus connected to the Portenta, and it keeps crashing.