Microchip MCP2515 CAN bus shields

Zephyr supports a couple of different shields carrying the Microchip MCP2515 Stand-Alone CAN Controller with SPI Interface.

DFRobot CAN BUS Shield V2.0

Overview

The DFRobot CAN BUS shield supports the Microchip MCP2515 stand-alone CAN controller and JTA1050 high speed CAN transceiver. The shield has an Arduino Uno R3 compatible hardware interface.

Hardware

MCP2515
- Stand-Alone CAN 2.0B Controller
- Up to 1Mb/s baud rate
- Standard and extended data and remote frames
- 3x Tx Buffers
- 2x Rx Buffers
- 6x 29-bit Filters
- 2x 29-bit Masks
- Interrupt output
- One shot mode
- High speed SPI interface (10 MHz)
TJA1050
- Fully compatible with the “ISO 11898” standard
- High speed (up to 1 Mbaud)
Connectivity
- Industrial standard DB9 terminal (CAN)
- Screw terminals (CAN)
- Integrated MicroSD socket for data storage (SPI)
- Arduino Uno R3 compatible (SPI)

Name	Function	Usage
A0	None
A1	None
A2	None
A3	None
A4	None
A5	None
D0	RX	Ext. header only
D1	TX	Ext. header only
D2	GPIO_ACTIVE_LOW	MCP2515 - INT
D3	None
D4	SPI-CS	MicroSD
D5	None
D6	None
D7	None
D8	None
D9	None
D10	SPI-CS	MCP2515
D11	SPI-MOSI	MCP2515 / MicroSD
D12	SPI-MISO	MCP2515 / MicroSD
D13	SPI-CLK	MCP2515 / MicroSD
D14	I2C-SDA	Ext. header only
D15	I2C_SCL	Ext. header only

Power Supply
- 3.3V ~ 5V
Components
- Power switch
- Power LED
- RX0BF LED
- RX1BF LED

For more information about the DFRobot CAN-BUS V2.0 shield:

Keyestudio CAN-BUS Shield (KS0411)

Overview

The Keyestudio CAN BUS shield supports the Microchip MCP2515 stand-alone CAN controller and MCP2551 high speed CAN transceiver. The shield has an Arduino Uno R3 compatible hardware interface.

Keyestudio CAN-BUS Shield (KS0411) (Credit: Keyestudio)

Hardware

MCP2515
- Stand-Alone CAN 2.0B Controller
- Up to 1Mb/s baud rate
- Standard and extended data and remote frames
- 3x Tx Buffers
- 2x Rx Buffers
- 6x 29-bit Filters
- 2x 29-bit Masks
- Interrupt output
- One shot mode
- High speed SPI interface (10 MHz)
MCP2551
- Fully compatible with the “ISO 11898” standard
- High speed (up to 1 Mbaud)
Connectivity
- Industrial standard DB9 terminal (CAN)
- Pin headers (CAN)
- Integrated MicroSD socket for data storage (SPI)
- Arduino Uno R3 compatible (SPI)

Name	Function	Usage
A0	None
A1	None
A2	None
A3	None
A4	None
A5	None
D0	RX	Ext. header only
D1	TX	Ext. header only
D2	None
D3	None
D4	None
D5	None
D6	None
D7	None
D8	GPIO_ACTIVE_LOW	MCP2515 - INT
D9	SPI-CS	MicroSD
D10	SPI-CS	MCP2515
D11	SPI-MOSI	MCP2515 / MicroSD
D12	SPI-MISO	MCP2515 / MicroSD
D13	SPI-CLK	MCP2515 / MicroSD
D14	I2C-SDA	Ext. header only
D15	I2C_SCL	Ext. header only

Power Supply
- 5.0VDC

For more information about the Keyestudio CAN-BUS shield:

ElecFreaks CAN-BUS Shield (EF02037)

Overview

The ElecFreaks CAN BUS shield supports the Microchip MCP2515 stand-alone CAN controller and MCP2551 high speed CAN transceiver. The shield has an Arduino Uno R3 compatible hardware interface.

ElecFreaks CAN-BUS Shield (EF02037) (Credit: ElecFreaks)

The ElecFreaks CAN-BUS Shield can also be found as CAN-BUS Shield v1.2 by DiyMore. Both shields are pin and function compatible. Furthermore, the wiring of the MCP2515 is also compatible with the CAN-BUS Shield v1.5 by Elecrow. On the Elecrow shield, three missing 0 Ohm bridges must be manually soldered to ensure that the SPI signals are also connected to the Arduino Uno R3 pin header. Although the Elecrow shield has a microSD socket, the slot can only be used in systems with a 5V signal level on SPI.

Hardware

MCP2515
- Stand-Alone CAN 2.0B Controller
- Up to 1Mb/s baud rate
- Standard and extended data and remote frames
- 3x Tx Buffers
- 2x Rx Buffers
- 6x 29-bit Filters
- 2x 29-bit Masks
- Interrupt output
- One shot mode
- High speed SPI interface (10 MHz)
MCP2551
- Fully compatible with the “ISO 11898” standard
- High speed (up to 1 Mbaud)
Connectivity
- Industrial standard DB9 terminal (CAN)
- Screw terminal block - 2-pin 5.0mm (CAN)
- Arduino Uno R3 compatible (SPI)

Name	Function	Usage
A0	I2C-SDA	Ext. header only
A1	I2C-SCL	Ext. header only
A2	None
A3	None
A4	None
A5	None
D0	RX	Ext. header only
D1	TX	Ext. header only
D2	GPIO_ACTIVE_LOW	MCP2515 - INT
D3	None
D4	SPI-CS	(MicroSD)
D5	None
D6	None
D7	None
D8	None
D9	None
D10	SPI-CS	MCP2515
D11	SPI-MOSI	MCP2515 / (MicroSD)
D12	SPI-MISO	MCP2515 / (MicroSD)
D13	SPI-CLK	MCP2515 / (MicroSD)
D14	None
D15	None

Power Supply
- 5.0VDC

For more information about the ElecFreaks CAN-BUS shield:

Adafruit PiCowbell CAN Bus Shield for Pico

Overview

The Adafruit PiCowbell CAN Bus Shield uses the Microchip MCP2515 controller with an TJA1051/3 transceiver. This shield is built for the Raspberry Pi Pico and uses the SPI interface. It also contains a Qwiic connector to add support for a sensor.

Hardware

MCP2515
- Stand-Alone CAN 2.0B Controller
- Up to 1Mb/s baud rate
- Standard and extended data and remote frames
- 3x Tx Buffers
- 2x Rx Buffers
- 6x 29-bit Filters
- 2x 29-bit Masks
- Interrupt output
- One shot mode
- High speed SPI interface (10 MHz)
TJA1051
- Fully compatible with the “ISO 11898-2:2016”, “SAE J2284-1” & “SAE J2284-5” standards
- Supports CAN FD
- Fast data rates (up to 5 Mbit/s)
Connectivity
- Terminal Block - 3-pin 3.5mm (CAN)
- Raspberry Pi Pico compatible (SPI)

Name	Function	Usage
GP0	None
GP1	None
GP2	None
GP3	None
GP4	None
GP5	None
GP6	None
GP7	None
GP8	None
GP9	None
GP10	None
GP11	None
GP12	None
GP13	None
GP14	None
GP15	None
GP16	SPI-MISO	MCP2515
GP17	None
GP18	SPI-SCK	MCP2515
GP19	SPI-MOSI	MCP2515
GP20	SPI-CS	MCP2515
GP21	GPIO_ACTIVE_LOW	MCP2515 - INT
GP22	None
GP23	None
GP24	None
GP25	None
GP26	None
GP27	None
GP28	None

Power Supply
- 3.3V ~ 5V

For more information about the Adafruit PiCowbell CAN Bus shield:

Waveshare Pico-CAN-B Shield for Pico

Overview

The Waveshare Pico-CAN-B Shield uses the Microchip MCP2515 controller with an SN65HVD230 transceiver. This shield is built for the Raspberry Pi Pico (W) or Pico 2(W) or compatible boards and uses the SPI interface, but not in the standardized pin assignment.

Hardware

The Waveshare Pico-CAN-B Shield requires the SPI bus on Raspberry Pi Pico header pins that are not standardized for Zephyr. They conflict with the standardized use of the two I2C buses on GPIO lines 4 to 7. The shield resolves this conflict by swapping the pins of SPI0 with I2C0, and I2C1.

However, in a stacked configuration with multiple shields on a Raspberry Pi Pico or Pico 2 or compatible board, this means that the physical capabilities must be carefully checked.

MCP2515
- Stand-Alone CAN 2.0B Controller
- Up to 1Mb/s baud rate
- Standard and extended data and remote frames
- 3x Tx Buffers
- 2x Rx Buffers
- 6x 29-bit Filters
- 2x 29-bit Masks
- Interrupt output
- One shot mode
- High speed SPI interface (10 MHz)
SN65HVD230
- Fully compatible with the “ISO 11898” standard
- High speed (up to 1 Mbaud)
Connectivity
- Screw terminal block - 3-pin 3.5mm (CAN)
- Pin header - 3-pin 100mil (CAN)
- Pin header - 3-pin 100mil (CAN bus termination)
- Raspberry Pi Pico header (SPI)
- Raspberry Pi Pico conflicts with SPI, and both I2C

Name	Function (original)	Usage
GP0	None
GP1	None
GP2	None
GP3	None
GP4	SPI-MISO (I2C0-SDA)	MCP2515
GP5	SPI-CS (I2C0-SCL)	MCP2515
GP6	SPI-SCK (I2C1-SDA)	MCP2515
GP7	SPI-MOSI (I2C1-SCL)	MCP2515
GP8	None
GP9	None
GP10	None
GP11	None
GP12	None
GP13	None
GP14	None
GP15	None
GP16	I2C0-SDA	(re-routed)
GP17	I2C0-SCL	(re-routed)
GP18	I2C1-SDA	(re-routed)
GP19	I2C1-SCL	(re-routed)
GP20	None
GP21	GPIO_ACTIVE_LOW	MCP2515 - INT
GP22	None
GP23	None
GP24	None
GP25	None
GP26	None
GP27	None
GP28	None

Power Supply
- 3.3V ~ 5V

For more information about the Waveshare Pico-CAN-B shield:

Seeed Studio XIAO CAN Bus Shield

Overview

The Seeed Studio XIAO CAN Bus Shield is specifically designed to work with Seeed Studio XIAO series development boards. It uses the Microchip MCP2515 CAN controller with an SN65HVD230 high speed CAN transceiver. The shield has an Seeed Studio XIAO compatible hardware interface.

Hardware

The Seeed Studio XIAO CAN Bus Shield requires the SPI chip-select and interrupt line on Seeed Studio XIAO header pins that are not standardized for Zephyr. They conflict with the standardized use of the first UART on pin D6 (TX) and D7 (RX). The shield resolves this conflict by disabling the UART.

This means that the Zephyr console can no longer be accessed via the serial interface, an alternative such as the USB CDC/ACM class must be used instead, e.g. with --snippet cdc-acm-console when you invoke west build.

MCP2515
- Stand-Alone CAN 2.0B Controller
- Up to 1Mb/s baud rate
- Standard and extended data and remote frames
- 3x Tx Buffers
- 2x Rx Buffers
- 6x 29-bit Filters
- 2x 29-bit Masks
- Interrupt output
- One shot mode
- High speed SPI interface (10 MHz)
SN65HVD230
- Fully compatible with the “ISO 11898” standard
- High speed (up to 1 Mbaud)
Connectivity
- Screw terminal block - 3-pin 3.5mm (CAN)
- Solder pad for CAN bus termination
- Seeed Studio XIAO compatible (SPI)

Name	Function (original)	Usage
D0	None
D1	None
D2	None
D3	None
D4	None (I2C-SDA)
D5	None (I2C-SCL)
D6	GPIO_ACTIVE_LOW (TX)	MCP2515 - INT
D7	SPI-CS (RX)	MCP2515
D8	SPI-CLK	MCP2515
D9	SPI-MOSI	MCP2515
D10	SPI-MISO	MCP2515

Power Supply
- 3.3V ~ 5V

For more information about the Seeed Studio XIAO CAN Bus shield:

Programming

Set --shield dfrobot_can_bus_v2_0 or --shield keyestudio_can_bus_ks0411 or --shield adafruit_can_picowbell or --shield waveshare_pico_can_b or --shield seeed_xiao_can when you invoke west build or cmake in your Zephyr application. For example:

Using west:

# From the root of the zephyr repository
west build -b nrf52dk/nrf52832 --shield dfrobot_can_bus_v2_0 samples/drivers/can/counter
west flash

Using CMake and ninja:

# From the root of the zephyr repository
# Use cmake to configure a Ninja-based buildsystem:
cmake -Bbuild -GNinja -DBOARD=nrf52dk/nrf52832 -DSHIELD="dfrobot_can_bus_v2_0" samples/drivers/can/counter

# Now run the build tool on the generated build system:
ninja -Cbuild
ninja -Cbuild flash

Using west:

# From the root of the zephyr repository
west build -b nrf52840dk/nrf52840 --shield keyestudio_can_bus_ks0411 samples/drivers/can/counter
west flash

Using CMake and ninja:

# From the root of the zephyr repository
# Use cmake to configure a Ninja-based buildsystem:
cmake -Bbuild -GNinja -DBOARD=nrf52840dk/nrf52840 -DSHIELD="keyestudio_can_bus_ks0411" samples/drivers/can/counter

# Now run the build tool on the generated build system:
ninja -Cbuild
ninja -Cbuild flash

Using west:

# From the root of the zephyr repository
west build -b rpi_pico --shield adafruit_can_picowbell samples/drivers/can/counter

Using CMake and ninja:

# From the root of the zephyr repository
# Use cmake to configure a Ninja-based buildsystem:
cmake -Bbuild -GNinja -DBOARD=rpi_pico -DSHIELD="adafruit_can_picowbell" samples/drivers/can/counter

# Now run the build tool on the generated build system:
ninja -Cbuild

Using west:

# From the root of the zephyr repository
west build -b rpi_pico --shield waveshare_pico_can_b samples/drivers/can/counter

Using CMake and ninja:

# From the root of the zephyr repository
# Use cmake to configure a Ninja-based buildsystem:
cmake -Bbuild -GNinja -DBOARD=rpi_pico -DSHIELD="waveshare_pico_can_b" samples/drivers/can/counter

# Now run the build tool on the generated build system:
ninja -Cbuild

Using west:

# From the root of the zephyr repository
west build -b xiao_rp2040 -S cdc-acm-console --shield seeed_xiao_can samples/drivers/can/counter

Using CMake and ninja:

# From the root of the zephyr repository
# Use cmake to configure a Ninja-based buildsystem:
cmake -Bbuild -GNinja -DBOARD=xiao_rp2040 -DSNIPPET="cdc-acm-console" -DSHIELD="seeed_xiao_can" samples/drivers/can/counter

# Now run the build tool on the generated build system:
ninja -Cbuild