MCP2515 CANBus module installation on RaspberryPi

It is aimed to build CANBus communication between two Raspberry Pi boards. This setup is accomplished with the Microchip's stand-alone MCP2515 CAN controller.

Project Items

1 RaspberryPi 3 Model B+ (Raspi1)
1 RaspberryPi 3 Model B v1.2 (Raspi2)
2 MCP2515 CAN Bus Module TJA1050 Receiver SPI (CanModule1, CanModule2)
Environmental Setup

High Level Design

Raspi1 --(SPIcomm)-- CanModule1 ==<CANbus H,L>== CanModule2 --(SPIComm)-- Raspi2

Wiring Diagrams

MCP2515 Note: Modification is required! Since TJA1050 CAN Transciver operates at 4.75V~5.25V (Typically @5V), it is necessary to add Vdd 5V input pin to the module besides Vcc 3.3V. It is explained how the MCP2515 CAN module is adjusted below along with the pictures.

1.MCP2515 CANBus Module
2.Find the Vcc trace for TJA1050
3.Cut the copper trace to replace with 5V
4.Scrape the insulator to make soldering over the trace.
5.Solder the jumper wire
6.Put some silicon to strength the connection
7.I preferably replace the 7 pin male headers with 8 pin Male PCB Mounting Right Angle connector
8.Overall board with modification

Installation

Download Updates:

sudo apt-get update
sudo apt-get upgrade
sudo reboot

Enable SPI:
Applications Menu --> Preferences --> Raspberry Pi Configuration --> Interfaces --> Select SPI Enabled
OR

sudo raspi-config

5 Interfacing Options --> P4 SPI --> Yes --> The SPI interface is enabled --> Finish

Check Kernel version:

uname -a

Linux raspberrypi 4.19.42-v7+ 1219 SMP Tue May 14 21:20:58 BST 2019 armv71 GNU/Linux

Modify config.txt:
For later kernels (4.4.x onwards)

sudo nano /boot/config.txt

Add the following setup at the end of the file:

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=25
dtoverlay=spi-bcm2835
dtoverlay=spi-dma

Save: CTRL + X --> Enter

sudo reboot

Install Can-utils:

sudo apt-get install autoconf autogen
sudo apt-get install libtool
git clone https://github.com/linux-can/can-utils.git
cd can-utils
./autogen.sh
./configure
make
sudo make install
sudo apt-get install can-utils
sudo reboot

can0 Availability Check
Full circuit wiring must be completed before checking the related folder. And do not miss having common ground, since there is not any additional GND pin for Can transmission lines (CAN_H, CAN_L).

sys --> bus --> spi --> devices --> spi0.0 --> net --> can0
OR

ls /sys/bus/spi/devices/spi0.0/net

If there is not can0 folder in the specified directory, check config.txt and ensure that:

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=25
dtoverlay=spi-bcm2835
dtoverlay=spi-dma

AND check the connections in the circuit.

Test: Sending data from RasPi1 to RasPi2

RasPi1

sudo ip link set can0 up type can bitrate 500000

cansend can0 100#12FF34AA56DD66

Raspi2

sudo ip link set can0 up type can bitrate 500000

candump can0

Learn More

RaspberryPi 3 Model B+

https://en.wikipedia.org/wiki/Raspberry_Pi
https://pinout.xyz/

MCP2515 Can Controller

https://www.microchip.com/wwwproducts/en/en010406
http://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf
https://www.nxp.com/docs/en/data-sheet/TJA1050.pdf