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Debugging a MCP2515: Stand-alone CAN controller

The MCP2515 is a stand-alone CAN controller with SPI interface (link). This chip is able to maintain the state-machine necessary to drive/read the signals on a CAN bus.

Block Diagram of the MCP2515

I recently chose this chip to allow a micro-controller based device to communicate via a CAN bus. The SPI interface proved pretty simple; a command message is clocked into the MCP2515, followed by an address, followed by any additional data required for the particular command.

The MCP2515 has several transmit buffers, several receive buffers, several status buffers, and plenty of configuration registers to handle interfacing with the CAN bus and filtering CAN messages.

I wrote the firmware and ordered the chip. The datasheet was very complete regarding how to interface over SPI, so I didn’t expect any significant roadblocks when testing my code with the chip.

I received the chip, built a prototype unit, and gave it a whirl. The chip sent a single CAN packet and went silent. Power-cycling the prototype led to non-repeat behavior (sometimes 1 packet, sometimes none).

Ok, it is definitely a software bug. I just needed to find it. I connected a scope to an unused  I/O pin on the micro-controller. I began reading out the contents of the various MCP2515 control registers at different portions of the software. I soon discovered (via the CANCTRL and CANSTAT registers) that the device was getting pushed into LOOPBACK mode.

This was strange. The only operational modes used in my software were CONFIGURATION and NORMAL. I quickly checked the mode bits before and after each signification communication with the MCP2515 and found that the mode changed to LOOPBACK after I set the ID field of the TXBnSIDH/TXBnSIDL registers.

It turns out that I mistakenly thought the xxxxSIDL register would be at the lower address, and xxxxSIDH at the higher, of the MCP2515 register map. When writing the ID to these registers, I would write the high-order bits to the xxxxSIDH address, then decrement the xxxxSIDH address thinking this would drop me to the xxxxSIDL address.

CAN Controller register map for the MCP2515

It didn’t. Going the wrong direction in the MCP2515 register map, I was writing the xxxxSIDL value to the TXBnCTRL register. The particular xxxxSIDL value was setting the TXREQ field of this register. After setting the xxxxSIDL ID field, my code started writing the data-to-be-sent into the transmit buffer. Once TXREQ was set, the MCP2515 tries to send the data in the transmit buffer….a buffer that I was concurrently attempting to update with the data to transfer.

This causes an internal error in the MCP2515 that results in the operational mode being set to LOOPBACK. While in this mode, the transmitter and receiver buffers are directly linked internally, so no external signals are generated. Once LOOPBACK mode is entered, a request to enter NORMAL mode must be sent to resume signal transmission/reception.

Written by sturnfie

November 10th, 2010 at 1:01 pm

Posted in C,CAN,Tip,USB

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