fix: use pSPI->begin() and add skipSpiBegin option for ESP32 compatibility

ESP32 users need to call SPI.begin() with custom pin assignments before
using the library (GPIO matrix). The hardcoded SPI.begin() in
mcp2518fd::begin() overwrites this configuration.

Changes:
- Replace SPI.begin() with pSPI->begin() (consistent with MCP2515)
- Add optional _initSPI parameter (default true) to begin() across
  MCP_CAN, mcp2515, and mcp2518fd so ESP32 users can skip SPI init

Existing code is unaffected — default behavior unchanged.

Closes #158

.github/workflows/run-cl-arduino.yml

@@ -0,0 +1,87 @@
+name: Run Ci Arduino
+
+on:
+  push:
+  pull_request:
+  repository_dispatch:
+    types: [trigger-workflow]
+
+jobs:
+  ci-arduino:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Checkout script repository
+        uses: actions/checkout@v4
+        with:
+            repository: Seeed-Studio/ci-arduino
+            path: ci
+
+
+      - name: Setup arduino cli
+        uses: arduino/setup-arduino-cli@v2.0.0
+
+      - name: Create a depend.list file
+        run: |
+          # eg: echo "<repo>" >> depend.list
+            echo "arduino-libraries/SD" >> depend.list
+            echo "frankjoshua/rosserial_arduino_lib" >> depend.list
+          
+        
+      - name: Create a ignore.list file
+        run: |
+          # eg: echo "<path>,<fqbn>" >> ignore.list
+
+          # ROS library has some issue with std_msg, so we ignore them,waiting for the fix
+
+          echo "send_Blink_ROS,Seeeduino:samd:seeed_XIAO_m0" >> ignore.list
+          echo "send_Blink_ROS,Seeeduino:nrf52:xiaonRF52840" >> ignore.list
+          echo "send_Blink_ROS,Seeeduino:nrf52:xiaonRF52840Sense" >> ignore.list
+          echo "send_Blink_ROS,Seeeduino:renesas_uno:XIAO_RA4M1" >> ignore.list
+          echo "send_Blink_ROS,rp2040:rp2040:seeed_xiao_rp2040" >> ignore.list
+          echo "send_Blink_ROS,rp2040:rp2040:seeed_xiao_rp2350" >> ignore.list
+          echo "send_Blink_ROS,esp32:esp32:XIAO_ESP32C3" >> ignore.list
+          echo "send_Blink_ROS,esp32:esp32:XIAO_ESP32C6" >> ignore.list
+          echo "send_Blink_ROS,esp32:esp32:XIAO_ESP32S3" >> ignore.list
+
+          echo "receive_sleep,Seeeduino:samd:seeed_XIAO_m0" >> ignore.list
+          echo "receive_sleep,Seeeduino:nrf52:xiaonRF52840" >> ignore.list
+          echo "receive_sleep,Seeeduino:nrf52:xiaonRF52840Sense" >> ignore.list
+          echo "receive_sleep,Seeeduino:renesas_uno:XIAO_RA4M1" >> ignore.list
+          echo "receive_sleep,rp2040:rp2040:seeed_xiao_rp2040" >> ignore.list
+          echo "receive_sleep,rp2040:rp2040:seeed_xiao_rp2350" >> ignore.list
+          echo "receive_sleep,esp32:esp32:XIAO_ESP32C3" >> ignore.list
+          echo "receive_sleep,esp32:esp32:XIAO_ESP32C6" >> ignore.list
+          echo "receive_sleep,esp32:esp32:XIAO_ESP32S3" >> ignore.list
+
+
+          echo "send_sleep,Seeeduino:samd:seeed_XIAO_m0" >> ignore.list
+          echo "send_sleep,Seeeduino:nrf52:xiaonRF52840" >> ignore.list
+          echo "send_sleep,Seeeduino:nrf52:xiaonRF52840Sense" >> ignore.list
+          echo "send_sleep,Seeeduino:renesas_uno:XIAO_RA4M1" >> ignore.list
+          echo "send_sleep,rp2040:rp2040:seeed_xiao_rp2040" >> ignore.list
+          echo "send_sleep,rp2040:rp2040:seeed_xiao_rp2350" >> ignore.list
+          echo "send_sleep,esp32:esp32:XIAO_ESP32C3" >> ignore.list
+          echo "send_sleep,esp32:esp32:XIAO_ESP32C6" >> ignore.list
+          echo "send_sleep,esp32:esp32:XIAO_ESP32S3" >> ignore.list
+
+
+
+      - name: Build sketch
+        run: ./ci/tools/compile.sh
+
+      - name: Build result
+        run: |
+            cat build.log
+            if [ ${{ github.event_name }} == 'pull_request' ] && [ -f compile.failed ]; then
+                exit 1
+            fi
+
+      - name: Generate issue
+        if: ${{ github.event_name != 'pull_request' }}
+        run: ./ci/tools/issue.sh
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/stale.yml

@@ -0,0 +1,25 @@
+name: 'Close stale issues and PRs'
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 4 * * *'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Checkout script repository
+        uses: actions/checkout@v4
+        with:
+            repository: Seeed-Studio/sync-github-all-issues
+            path: ci
+
+      - name: Run script
+        run: ./ci/tools/stale.sh
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/sync_issues.yml

@@ -0,0 +1,24 @@
+name: Automate Issue Management
+
+on:
+  issues:
+    types:
+      - opened
+      - edited
+      - assigned
+      - unassigned
+      - labeled
+      - unlabeled
+      - reopened
+
+jobs:
+  add_issue_to_project:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Add issue to GitHub Project
+        uses: actions/add-to-project@v1.0.2
+        with:
+          project-url: https://github.com/orgs/Seeed-Studio/projects/17
+          github-token: ${{ secrets.ISSUE_ASSEMBLE }}
+          labeled: bug
+          label-operator: NOT

examples/receive_interruptFD/receive_interruptFD.ino

@@ -48,7 +48,13 @@ void setup() {
     }
     SERIAL_PORT_MONITOR.println("CAN init ok!");
     byte mode = CAN.getMode();
+#ifdef ARDUINO_XIAO_RA4M1
+    char buffer[50];
+    sprintf(buffer, "CAN BUS mode = %d\n\r", mode);
+    SERIAL_PORT_MONITOR.print(buffer);
+#else
     SERIAL_PORT_MONITOR.printf("CAN BUS mode = %d\n\r", mode);
+#endif
 }
 
 void MCP2515_ISR() {

examples/recv__extended_frames/recv__extended_frames.ino

@@ -0,0 +1,124 @@
+// This is an example of receiving both standard frames and extended frames simultaneously. 
+// I have used two arrays, STANDARD_CAN_IDS and EXTENDED_CAN_IDS, to receive CAN messages with specific IDs. 
+// You need to set filters and masks for these IDs, 
+// and make sure to refer to and coordinate with the example for sending extended frames
+
+
+#include <SPI.h>
+
+#define CAN_2515
+// #define CAN_2518FD
+
+// Set SPI CS Pin according to your hardware
+
+#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
+// For Wio Terminal w/ MCP2518FD RPi Hat：
+// Channel 0 SPI_CS Pin: BCM 8
+// Channel 1 SPI_CS Pin: BCM 7
+// Interupt Pin: BCM25
+const int SPI_CS_PIN  = BCM8;
+const int CAN_INT_PIN = BCM25;
+#else
+
+// For Arduino MCP2515 Hat:
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+#endif
+
+
+#ifdef CAN_2518FD
+#include "mcp2518fd_can.h"
+mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
+#endif
+
+#ifdef CAN_2515
+#include "mcp2515_can.h"
+mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
+#endif      
+
+// Define the list of standard CAN IDs to receive
+const unsigned long STANDARD_CAN_IDS[] = {0x123, 0x456};
+const int STANDARD_CAN_ID_COUNT = sizeof(STANDARD_CAN_IDS) / sizeof(STANDARD_CAN_IDS[0]);
+
+// Define the list of extended CAN IDs to receive
+const unsigned long EXTENDED_CAN_IDS[] = {0x1234567, 0x89ABCDE};
+const int EXTENDED_CAN_ID_COUNT = sizeof(EXTENDED_CAN_IDS) / sizeof(EXTENDED_CAN_IDS[0]);
+
+void setup() 
+{
+  SERIAL_PORT_MONITOR.begin(115200);
+  while(!Serial){};
+
+  while (CAN_OK != CAN.begin(CAN_250KBPS))
+  {             // init can bus : baudrate = 250k
+    SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
+    delay(100);
+  }
+  SERIAL_PORT_MONITOR.println("CAN init ok!");
+
+  // Configure the standard frame filters
+  for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++) 
+  {
+    CAN.init_Mask(i, 0, 0x7FF); // Check all 11 bits of the standard frame
+    CAN.init_Filt(i, 0, STANDARD_CAN_IDS[i]);
+  }
+
+  // Configure the extended frame filters
+  for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++) 
+  {
+    CAN.init_Mask(i + STANDARD_CAN_ID_COUNT, 1, 0x1FFFFFFF); // Check all 29 bits of the extended frame
+    CAN.init_Filt(i + STANDARD_CAN_ID_COUNT, 1, EXTENDED_CAN_IDS[i]);
+  }
+}
+
+void loop()
+{
+  unsigned char len = 0;
+  unsigned char buf[8];
+  if (CAN_MSGAVAIL == CAN.checkReceive())
+  {         // check if data coming
+    CAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf
+
+    unsigned long canId = CAN.getCanId();
+
+    // Check if it is a standard CAN ID
+    for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++) 
+    {
+        if (canId == STANDARD_CAN_IDS[i]) 
+        {
+            SERIAL_PORT_MONITOR.println("-----------------------------");
+            SERIAL_PORT_MONITOR.print("Get standard data from ID: 0x");
+            SERIAL_PORT_MONITOR.println(canId, HEX);
+
+            for (int j = 0; j < len; j++) 
+            { // print the data
+                SERIAL_PORT_MONITOR.print(buf[j], HEX);
+                SERIAL_PORT_MONITOR.print("\t");
+            }
+            SERIAL_PORT_MONITOR.println();
+            break;
+        }
+    }
+
+    // Check if it is an extended CAN ID
+    for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++) 
+    {
+        if (canId == EXTENDED_CAN_IDS[i]) 
+        {
+            SERIAL_PORT_MONITOR.println("-----------------------------");
+            SERIAL_PORT_MONITOR.print("Get extended data from ID: 0x");
+            SERIAL_PORT_MONITOR.println(canId, HEX);
+
+            for (int j = 0; j < len; j++) 
+            { // print the data
+                SERIAL_PORT_MONITOR.print(buf[j], HEX);
+                SERIAL_PORT_MONITOR.print("\t");
+            }
+            SERIAL_PORT_MONITOR.println();
+            break;
+        }
+    }
+  }
+}

examples/send/send.ino

@@ -4,8 +4,8 @@
 
 #include <SPI.h>
 
-#define CAN_2515
-// #define CAN_2518FD
+//#define CAN_2515
+#define CAN_2518FD
 
 // Set SPI CS Pin according to your hardware
 

examples/send_Blink/send_Blink.ino

@@ -1,8 +1,8 @@
 // demo: CAN-BUS Shield, send data
 #include <SPI.h>
 
-#define CAN_2515
-// #define CAN_2518FD
+//#define CAN_2515
+#define CAN_2518FD
 
 // Set SPI CS Pin according to your hardware
 

examples/send_extended_frames/send_extended_frames.ino

@@ -0,0 +1,93 @@
+// demo: CAN-BUS Shield, send data
+// This is an example of sending both standard frames and extended frames simultaneously. 
+// I have used two arrays, STANDARD_CAN_IDS and EXTENDED_CAN_IDS, to store the IDs to be sent, and it supports defining custom send IDs
+
+
+#include <SPI.h>
+
+#define CAN_2515
+// #define CAN_2518FD
+
+// Set SPI CS Pin according to your hardware
+
+#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
+// For Wio Terminal w/ MCP2518FD RPi Hat：
+// Channel 0 SPI_CS Pin: BCM 8
+// Channel 1 SPI_CS Pin: BCM 7
+// Interupt Pin: BCM25
+const int SPI_CS_PIN  = BCM8;
+const int CAN_INT_PIN = BCM25;
+#else
+
+// For Arduino MCP2515 Hat:
+// the cs pin of the version after v1.1 is default to D9
+// v0.9b and v1.0 is default D10
+const int SPI_CS_PIN = 9;
+const int CAN_INT_PIN = 2;
+#endif
+
+
+#ifdef CAN_2518FD
+#include "mcp2518fd_can.h"
+mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
+#endif
+
+#ifdef CAN_2515
+#include "mcp2515_can.h"
+mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
+#endif    
+
+// Define the list of standard CAN IDs to receive
+const unsigned long STANDARD_CAN_IDS[] = {0x123, 0x456};
+const int STANDARD_CAN_ID_COUNT = sizeof(STANDARD_CAN_IDS) / sizeof(STANDARD_CAN_IDS[0]);
+
+// Define the list of extended CAN IDs to receive
+const unsigned long EXTENDED_CAN_IDS[] = {0x1234567, 0x89ABCDE};
+const int EXTENDED_CAN_ID_COUNT = sizeof(EXTENDED_CAN_IDS) / sizeof(EXTENDED_CAN_IDS[0]);
+
+void setup() 
+{
+  SERIAL_PORT_MONITOR.begin(115200);
+  while(!Serial){};
+
+  while (CAN_OK != CAN.begin(CAN_500KBPS)) 
+  {             // init can bus : baudrate = 500k
+    SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
+    delay(100);
+  }
+  SERIAL_PORT_MONITOR.println("CAN init ok!");
+}
+
+unsigned char stmp[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+void loop() 
+{
+  // send data: id = 0x00, standrad frame, data len = 8, stmp: data buf
+  stmp[7] = stmp[7] + 1;
+  if (stmp[7] == 100) 
+  {
+    stmp[7] = 0;
+    stmp[6] = stmp[6] + 1;
+
+    if (stmp[6] == 100) 
+    {
+      stmp[6] = 0;
+      stmp[5] = stmp[5] + 1;
+    }
+  }
+
+  for (int i = 0; i < STANDARD_CAN_ID_COUNT; i++) 
+  {
+    CAN.sendMsgBuf(STANDARD_CAN_IDS[i], 0, 8, stmp);//using ID List ID 
+    delay(100);    
+  }
+
+  for (int i = 0; i < EXTENDED_CAN_ID_COUNT; i++) 
+  {
+    CAN.sendMsgBuf(EXTENDED_CAN_IDS[i], 1, 8, stmp);//using ID List ID 
+    delay(100);    
+  }
+}
+
+/*********************************************************************************************************
+    END FILE
+*********************************************************************************************************/

keywords.txt

@@ -36,6 +36,7 @@ CAN_50KBPS	LITERAL1
 CAN_80KBPS	LITERAL1
 CAN_83K3BPS	LITERAL1
 CAN_95KBPS	LITERAL1
+CAN_95K2BPS LITERAL1
 CAN_100KBPS	LITERAL1
 CAN_125KBPS	LITERAL1
 CAN_200KBPS	LITERAL1

library.json

@@ -1,13 +1,13 @@
 {
   "name": "CAN_BUS_Shield",
-  "keywords": "can, bus, MCP2518FD ，mcp2515, MCP-2515",
-  "description": "Seeed Arduino library to control  CAN-BUS and CAN BUS FD.",
+  "keywords": "can, bus, mcp2518fd, mcp2515",
+  "description": "Seeed Arduino library to control CAN BUS and CAN BUS FD.",
   "repository":
   {
     "type": "git",
     "url": "https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git"
   },
-  "version": "1.20",
+  "version": "2.3.3",
   "frameworks": "arduino",
   "platforms": "*"
 }

library.properties

@@ -1,9 +1,9 @@
-name=CAN-BUS Shield
-version=2.3.0
+name=CAN_BUS_Shield
+version=2.3.3
 author=Seeed Studio
 maintainer=Seeed Studio <techsupport@seeed.cc>
-sentence=Seeed Arduino library to control  CAN-BUS and CAN BUS FD.
-paragraph=Seeed Arduino library to control CAN-BUS and CAN BUS FD.
+sentence=Seeed Arduino library to control  CAN BUS and CAN BUS FD.
+paragraph=Seeed Arduino library to control CAN BUS and CAN BUS FD.
 category=Device Control
 url=https://github.com/Seeed-Studio/Seeed_Arduino_CAN
 architectures=*

src/can-serial.h

@@ -211,7 +211,7 @@ private:
     INT8U openCanBus();
     
     INT8U sendMsgBuf(INT32U id, INT8U ext, INT8U rtr, INT8U len, INT8U *buf);
-
+    
     void  parseCanStdId();
     void  parseCanExtId();
 };

src/mcp2515_can.cpp

@@ -533,6 +533,109 @@ byte mcp2515_can::mcp2515_configRate(const byte canSpeed, const byte clock) {
             }
             break;
 
+        case (MCP_12MHz) :
+            switch (canSpeed) {
+                case (CAN_20KBPS) :
+                    cfg1 = MCP_12MHz_20kBPS_CFG1;
+                    cfg2 = MCP_12MHz_20kBPS_CFG2;
+                    cfg3 = MCP_12MHz_20kBPS_CFG3;
+                    break;
+
+                case (CAN_25KBPS) :
+                    cfg1 = MCP_12MHz_25kBPS_CFG1;
+                    cfg2 = MCP_12MHz_25kBPS_CFG2;
+                    cfg3 = MCP_12MHz_25kBPS_CFG3;
+                    break;
+
+                case (CAN_31K25BPS) :
+                    cfg1 = MCP_12MHz_31k25BPS_CFG1;
+                    cfg2 = MCP_12MHz_31k25BPS_CFG2;
+                    cfg3 = MCP_12MHz_31k25BPS_CFG3;
+                    break;
+
+                case (CAN_33KBPS) :
+                    cfg1 = MCP_12MHz_33kBPS_CFG1;
+                    cfg2 = MCP_12MHz_33kBPS_CFG2;
+                    cfg3 = MCP_12MHz_33kBPS_CFG3;
+                    break;
+
+                case (CAN_40KBPS) :
+                    cfg1 = MCP_12MHz_40kBPS_CFG1;
+                    cfg2 = MCP_12MHz_40kBPS_CFG2;
+                    cfg3 = MCP_12MHz_40kBPS_CFG3;
+                    break;
+
+                case (CAN_50KBPS) :
+                    cfg1 = MCP_12MHz_50kBPS_CFG1;
+                    cfg2 = MCP_12MHz_50kBPS_CFG2;
+                    cfg3 = MCP_12MHz_50kBPS_CFG3;
+                    break;
+
+                case (CAN_80KBPS) :
+                    cfg1 = MCP_12MHz_80kBPS_CFG1;
+                    cfg2 = MCP_12MHz_80kBPS_CFG2;
+                    cfg3 = MCP_12MHz_80kBPS_CFG3;
+                    break;
+
+                case (CAN_83K3BPS) :
+                    cfg1 = MCP_12MHz_83k3BPS_CFG1;
+                    cfg2 = MCP_12MHz_83k3BPS_CFG2;
+                    cfg3 = MCP_12MHz_83k3BPS_CFG3;
+                    break;
+
+                case (CAN_95KBPS) :
+                    cfg1 = MCP_12MHz_95kBPS_CFG1;
+                    cfg2 = MCP_12MHz_95kBPS_CFG2;
+                    cfg3 = MCP_12MHz_95kBPS_CFG3;
+                    break;
+
+                case (CAN_100KBPS) :
+                    cfg1 = MCP_12MHz_100kBPS_CFG1;
+                    cfg2 = MCP_12MHz_100kBPS_CFG2;
+                    cfg3 = MCP_12MHz_100kBPS_CFG3;
+                    break;
+
+                case (CAN_125KBPS) :
+                    cfg1 = MCP_12MHz_125kBPS_CFG1;
+                    cfg2 = MCP_12MHz_125kBPS_CFG2;
+                    cfg3 = MCP_12MHz_125kBPS_CFG3;
+                    break;
+
+                case (CAN_200KBPS) :
+                    cfg1 = MCP_12MHz_200kBPS_CFG1;
+                    cfg2 = MCP_12MHz_200kBPS_CFG2;
+                    cfg3 = MCP_12MHz_200kBPS_CFG3;
+                    break;
+
+                case (CAN_250KBPS) :
+                    cfg1 = MCP_12MHz_250kBPS_CFG1;
+                    cfg2 = MCP_12MHz_250kBPS_CFG2;
+                    cfg3 = MCP_12MHz_250kBPS_CFG3;
+                    break;
+
+                case (CAN_500KBPS) :
+                    cfg1 = MCP_12MHz_500kBPS_CFG1;
+                    cfg2 = MCP_12MHz_500kBPS_CFG2;
+                    cfg3 = MCP_12MHz_500kBPS_CFG3;
+                    break;
+
+                case (CAN_666KBPS) :
+                    cfg1 = MCP_12MHz_666kBPS_CFG1;
+                    cfg2 = MCP_12MHz_666kBPS_CFG2;
+                    cfg3 = MCP_12MHz_666kBPS_CFG3;
+                    break;
+
+                case (CAN_1000KBPS) :
+                    cfg1 = MCP_12MHz_1000kBPS_CFG1;
+                    cfg2 = MCP_12MHz_1000kBPS_CFG2;
+                    cfg3 = MCP_12MHz_1000kBPS_CFG3;
+                    break;
+
+                default:
+                    set = 0;
+                    break;
+            }
+            break;
         case (MCP_8MHz) :
             switch (canSpeed) {
                 case (CAN_5KBPS) :
@@ -577,6 +680,18 @@ byte mcp2515_can::mcp2515_configRate(const byte canSpeed, const byte clock) {
                     cfg3 = MCP_8MHz_80kBPS_CFG3;
                     break;
 
+                case (CAN_83K3BPS) :
+                    cfg1 = MCP_8MHz_83k3BPS_CFG1;
+                    cfg2 = MCP_8MHz_83k3BPS_CFG2;
+                    cfg3 = MCP_8MHz_83k3BPS_CFG3;
+                    break;
+
+				case (CAN_95K2BPS):
+                    cfg1 = MCP_8MHz_95k2BPS_CFG1;
+                    cfg2 = MCP_8MHz_95k2BPS_CFG2;
+                    cfg3 = MCP_8MHz_95k2BPS_CFG3;
+                    break;
+                    
                 case (CAN_100KBPS) :
                     cfg1 = MCP_8MHz_100kBPS_CFG1;
                     cfg2 = MCP_8MHz_100kBPS_CFG2;
@@ -929,7 +1044,7 @@ byte mcp2515_can::mcp2515_getNextFreeTXBuf(byte* txbuf_n) {               // get
     }
 
     // check all 3 TX-Buffers except reserved
-    for (i = 0; i < MCP_N_TXBUFFERS - nReservedTx; i++) {
+    for (i = MCP_N_TXBUFFERS - nReservedTx; i >= 0; i--) {
         if ((status & txStatusPendingFlag(i)) == 0) {
             *txbuf_n = txCtrlReg(i) + 1;                                   // return SIDH-address of Buffer
             mcp2515_modifyRegister(MCP_CANINTF, txIfFlag(i), 0);
@@ -943,8 +1058,8 @@ byte mcp2515_can::mcp2515_getNextFreeTXBuf(byte* txbuf_n) {               // get
 ** Function name:           begin
 ** Descriptions:            init can and set speed
 *********************************************************************************************************/
-byte mcp2515_can::begin(uint32_t speedset, const byte clockset) {
-    pSPI->begin();
+byte mcp2515_can::begin(uint32_t speedset, const byte clockset, const bool _initSPI) {
+    if (_initSPI) pSPI->begin();
     byte res = mcp2515_init((byte)speedset, clockset);
 
     return ((res == MCP2515_OK) ? CAN_OK : CAN_FAILINIT);
@@ -1293,6 +1408,7 @@ byte mcp2515_can::checkReceive(void) {
 *********************************************************************************************************/
 byte mcp2515_can::checkError(uint8_t* err_ptr) {
     byte eflg = mcp2515_readRegister(MCP_EFLG);
+    mcp2515_modifyRegister(MCP_EFLG, 0xFF, 0);
     if (err_ptr) {
         *err_ptr = eflg;
     }

src/mcp2515_can.h

@@ -69,7 +69,7 @@ public:
     {
         return MCP_N_TXBUFFERS - 1; // read index of last tx buffer
     }
-    virtual byte begin(uint32_t speedset, const byte clockset = MCP_16MHz);                                                                                 // init can
+    virtual byte begin(uint32_t speedset, const byte clockset = MCP_16MHz, const bool _initSPI = true); // init can
     virtual byte init_Mask(byte num, byte ext, unsigned long ulData);                                                                                   // init Masks
     virtual byte init_Filt(byte num, byte ext, unsigned long ulData);                                                                                   // init filters
     virtual void setSleepWakeup(byte enable);                                                                                                           // Enable or disable the wake up interrupt (If disabled the MCP2515 will not be woken up by CAN bus activity, making it send only)
@@ -92,10 +92,7 @@ public:
     virtual byte trySendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, byte iTxBuf = 0xff);                                 // as sendMsgBuf, but does not have any wait for free buffer
     virtual byte sendMsgBuf(byte status, unsigned long id, byte ext, byte rtrBit, byte len, volatile const byte *buf);                                  // send message buf by using parsed buffer status
     virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit, byte len, const byte *buf, bool wait_sent = true);                                 // send buf
-    /* wrapper */
-    inline byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf) {
-        return sendMsgBuf(id, ext, 0, len, buf, true);
-    }
+    using MCP_CAN::sendMsgBuf; // make other overloads visible
 
     virtual void clearBufferTransmitIfFlags(byte flags = 0);                                                                                            // Clear transmit flags according to status
     virtual byte readRxTxStatus(void);                                                                                                                  // read has something send or received

src/mcp2515_can_dfs.h

@@ -350,6 +350,73 @@
 #define MCP_16MHz_5kBPS_CFG3 (0x87)
 
 
+// speed 12M
+
+#define MCP_12MHz_1000kBPS_CFG1 (0x00)//
+#define MCP_12MHz_1000kBPS_CFG2 (0x88)//
+#define MCP_12MHz_1000kBPS_CFG3 (0x01)//
+
+#define MCP_12MHz_666kBPS_CFG1 (0x00)//
+#define MCP_12MHz_666kBPS_CFG2 (0x92)//
+#define MCP_12MHz_666kBPS_CFG3 (0x01)//
+
+#define MCP_12MHz_500kBPS_CFG1 (0x00)
+#define MCP_12MHz_500kBPS_CFG2 (0x9B)
+#define MCP_12MHz_500kBPS_CFG3 (0x02)
+
+#define MCP_12MHz_250kBPS_CFG1 (0x00)//
+#define MCP_12MHz_250kBPS_CFG2 (0xBF)//
+#define MCP_12MHz_250kBPS_CFG3 (0x06)///
+
+#define MCP_12MHz_200kBPS_CFG1 (0x01)//
+#define MCP_12MHz_200kBPS_CFG2 (0xA4)//
+#define MCP_12MHz_200kBPS_CFG3 (0x03)//
+
+#define MCP_12MHz_125kBPS_CFG1 (0x01)//
+#define MCP_12MHz_125kBPS_CFG2 (0xBF)//
+#define MCP_12MHz_125kBPS_CFG3 (0x06)//
+
+#define MCP_12MHz_100kBPS_CFG1 (0x02)//
+#define MCP_12MHz_100kBPS_CFG2 (0xB6)//
+#define MCP_12MHz_100kBPS_CFG3 (0x04)//
+
+#define MCP_12MHz_95kBPS_CFG1 (0x02)//
+#define MCP_12MHz_95kBPS_CFG2 (0xBE)//
+#define MCP_12MHz_95kBPS_CFG3 (0x04)//
+
+#define MCP_12MHz_83k3BPS_CFG1 (0x03)//
+#define MCP_12MHz_83k3BPS_CFG2 (0xB5)//
+#define MCP_12MHz_83k3BPS_CFG3 (0x03)//
+
+#define MCP_12MHz_80kBPS_CFG1 (0x04)//
+#define MCP_12MHz_80kBPS_CFG2 (0xA4)//
+#define MCP_12MHz_80kBPS_CFG3 (0x03)//
+
+#define MCP_12MHz_50kBPS_CFG1 (0x05)//
+#define MCP_12MHz_50kBPS_CFG2 (0xB6)//
+#define MCP_12MHz_50kBPS_CFG3 (0x04)//
+
+#define MCP_12MHz_40kBPS_CFG1 (0x09)//
+#define MCP_12MHz_40kBPS_CFG2 (0xA4)//
+#define MCP_12MHz_40kBPS_CFG3 (0x03)//
+
+#define MCP_12MHz_33kBPS_CFG1 (0x0C)//
+#define MCP_12MHz_33kBPS_CFG2 (0xA4)//
+#define MCP_12MHz_33kBPS_CFG3 (0x02)//
+
+#define MCP_12MHz_31k25BPS_CFG1 (0x0B)//
+#define MCP_12MHz_31k25BPS_CFG2 (0xAC)//
+#define MCP_12MHz_31k25BPS_CFG3 (0x03)//
+
+#define MCP_12MHz_25kBPS_CFG1 (0X0B)//
+#define MCP_12MHz_25kBPS_CFG2 (0XB6)//
+#define MCP_12MHz_25kBPS_CFG3 (0X04)//
+
+#define MCP_12MHz_20kBPS_CFG1 (0x0C)//
+#define MCP_12MHz_20kBPS_CFG2 (0xBF)//
+#define MCP_12MHz_20kBPS_CFG3 (0x05)//
+
+
 
 // speed 8M
 
@@ -381,10 +448,18 @@
 #define MCP_8MHz_100kBPS_CFG2 (0xb4)
 #define MCP_8MHz_100kBPS_CFG3 (0x06)
 
+#define MCP_8MHz_95k2BPS_CFG1 (0x01)
+#define MCP_8MHz_95k2BPS_CFG2 (0xBB)
+#define MCP_8MHz_95k2BPS_CFG3 (0x07)
+
 #define MCP_8MHz_80kBPS_CFG1 (0x01)
 #define MCP_8MHz_80kBPS_CFG2 (0xbf)
 #define MCP_8MHz_80kBPS_CFG3 (0x07)
 
+#define MCP_8MHz_83k3BPS_CFG1 (0x01)
+#define MCP_8MHz_83k3BPS_CFG2 (0xBE)
+#define MCP_8MHz_83k3BPS_CFG3 (0x07)
+
 #define MCP_8MHz_50kBPS_CFG1 (0x03)
 #define MCP_8MHz_50kBPS_CFG2 (0xb4)
 #define MCP_8MHz_50kBPS_CFG3 (0x06)

src/mcp2518fd_can.cpp

@@ -55,8 +55,8 @@ uint16_t DRV_CANFDSPI_CalculateCRC16(uint8_t *data, uint16_t size) {
 ** Function name:           begin
 ** Descriptions:            init can and set speed
 *********************************************************************************************************/
-byte mcp2518fd::begin(uint32_t speedset, const byte clockset) {
-  SPI.begin();
+byte mcp2518fd::begin(uint32_t speedset, const byte clockset, const bool _initSPI) {
+  if (_initSPI) pSPI->begin();
 
   /* compatible layer translation */
   speedset = bittime_compat_to_mcp2518fd(speedset);
@@ -1909,15 +1909,15 @@ byte mcp2518fd::init_Mask(byte num, byte ext, unsigned long ulData) {
   mcp2518fd_OperationModeSelect(CAN_CONFIGURATION_MODE);
 
   mcp2518fd_FilterToFifoLink((CAN_FILTER)num, APP_RX_FIFO, false);
-  
+
   // Setup RX Mask
   mObj.word = 0;
   mObj.bF.MSID = ulData;
   mObj.bF.MIDE = ext;
   err = mcp2518fd_FilterMaskConfigure((CAN_FILTER)num, &mObj.bF);
-  
+
   mcp2518fd_FilterToFifoLink((CAN_FILTER)num, APP_RX_FIFO, true);
-  
+
   mcp2518fd_OperationModeSelect(mcpMode);
 
   return err;
@@ -1932,7 +1932,7 @@ byte mcp2518fd::init_Filt(byte num, byte ext, unsigned long ulData) {
   err = mcp2518fd_OperationModeSelect(CAN_CONFIGURATION_MODE);
 
   mcp2518fd_FilterToFifoLink((CAN_FILTER)num, APP_RX_FIFO, false);
-  
+
   // Setup RX Filter
   fObj.word = 0;
   if (!ext) {            // standard identifier
@@ -1942,9 +1942,9 @@ byte mcp2518fd::init_Filt(byte num, byte ext, unsigned long ulData) {
   }
   fObj.bF.EXIDE = !!ext;
   mcp2518fd_FilterObjectConfigure((CAN_FILTER)num, &fObj.bF);
-  
+
   mcp2518fd_FilterToFifoLink((CAN_FILTER)num, APP_RX_FIFO, true);
-  
+
   mcp2518fd_OperationModeSelect(mcpMode);
   return err;
 }
@@ -2066,7 +2066,7 @@ byte mcp2518fd::checkError(uint8_t* err_ptr) {
 byte mcp2518fd::mcp2518fd_readMsgBufID(volatile byte *len, volatile byte *buf) {
   mcp2518fd_ReceiveMessageGet(APP_RX_FIFO, &rxObj, rxd, MAX_DATA_BYTES);
   ext_flg = rxObj.bF.ctrl.IDE;
-  can_id = ext_flg? (rxObj.bF.id.EID | (rxObj.bF.id.SID << 18))
+  can_id = ext_flg? (rxObj.bF.id.EID | ((uint32_t) rxObj.bF.id.SID << 18))
                   :  rxObj.bF.id.SID;
   rtr = rxObj.bF.ctrl.RTR;
   uint8_t n = DRV_CANFDSPI_DlcToDataBytes((CAN_DLC)rxObj.bF.ctrl.DLC);
@@ -2252,10 +2252,10 @@ byte mcp2518fd::mcpDigitalRead(const byte pin) {
   // Update data
   switch (pin) {
   case GPIO_PIN_0:
-    state = (GPIO_PIN_STATE)iocon.bF.GPIO0;
+    state = (GPIO_PIN_STATE)iocon.bF.GPIO0_;
     break;
   case GPIO_PIN_1:
-    state = (GPIO_PIN_STATE)iocon.bF.GPIO1;
+    state = (GPIO_PIN_STATE)iocon.bF.GPIO1_;
     break;
   default:
     return -1;

src/mcp2518fd_can.h

@@ -112,7 +112,8 @@ public:
    *          or fill by CANFD::BITRATE()
    */
   virtual byte begin(uint32_t speedset,
-                     const byte clockset = MCP2518FD_40MHz); // init can
+                     const byte clockset = MCP2518FD_40MHz,
+                     const bool _initSPI = true); // init can
   virtual byte init_Mask(byte num, byte ext, unsigned long ulData);
   virtual byte init_Filt(byte num, byte ext,
                          unsigned long ulData); // init filters
@@ -154,10 +155,8 @@ public:
                           byte dlc, volatile const byte *buf);
   virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtr, byte dlc,
                           const byte *buf, bool wait_sent = true);
-  /* wrapper */
-  inline byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf) {
-    return sendMsgBuf(id, ext, 0, len, buf, true);
-  }
+  using MCP_CAN::sendMsgBuf; // make other overloads visible
+
 
   virtual void clearBufferTransmitIfFlags(byte flags = 0);
   virtual byte readRxTxStatus(void);

src/mcp2518fd_can_dfs.h

@@ -1463,8 +1463,8 @@ typedef union _REG_IOCON {
     uint32_t LAT1 : 1;
     uint32_t unimplemented3 : 5;
     uint32_t HVDETSEL : 1;
-    uint32_t GPIO0 : 1;
-    uint32_t GPIO1 : 1;
+    uint32_t GPIO0_ : 1;
+    uint32_t GPIO1_ : 1;
     uint32_t unimplemented4 : 6;
     uint32_t PinMode0 : 1;
     uint32_t PinMode1 : 1;

src/mcp_can.h

@@ -5,6 +5,19 @@
 #include <SPI.h>
 #include <inttypes.h>
 
+#ifndef SERIAL_PORT_MONITOR
+
+#ifdef SEEED_XIAO_M0
+    #define  SERIAL_PORT_MONITOR Serial
+#elif defined(ARDUINO_SAMD_VARIANT_COMPLIANCE)
+    #define SERIAL_PORT_MONITOR SerialUSB
+#else
+    #define SERIAL_PORT_MONITOR Serial
+#endif
+
+#endif
+
+
 #define CAN_OK              (0)
 #define CAN_FAILINIT        (1)
 #define CAN_FAILTX          (2)
@@ -20,6 +33,7 @@ typedef enum {
     MCP_NO_MHz,
     /* apply to MCP2515 */
     MCP_16MHz,
+    MCP_12MHz,
     MCP_8MHz,
     /* apply to MCP2518FD */
     MCP2518FD_40MHz = MCP_16MHz /* To compatible MCP2515 shield */,
@@ -40,6 +54,7 @@ typedef enum {
     CAN_80KBPS  ,
     CAN_83K3BPS ,
     CAN_95KBPS  ,
+    CAN_95K2BPS ,
     CAN_100KBPS ,
     CAN_125KBPS ,
     CAN_200KBPS ,
@@ -61,7 +76,7 @@ public:
      * speedset be in MCP_BITTIME_SETUP
      * clockset be in MCP_CLOCK_T
      */
-    virtual byte begin(uint32_t speedset, const byte clockset) = 0;                     // init can
+    virtual byte begin(uint32_t speedset, const byte clockset, const bool _initSPI = true) = 0; // init can
     virtual byte init_Mask(byte num, byte ext, unsigned long ulData) = 0;               // init Masks
     virtual byte init_Filt(byte num, byte ext, unsigned long ulData) = 0;               // init filters
     virtual void setSleepWakeup(byte enable) = 0;                                       // Enable or disable the wake up interrupt
@@ -93,7 +108,11 @@ public:
                                byte len, volatile const byte *buf) = 0;                 // send message buf by using parsed buffer status
     virtual byte sendMsgBuf(unsigned long id, byte ext, byte rtrBit,
                                byte len, const byte *buf, bool wait_sent = true) = 0;   // send message with wait
-
+    /* wrapper */
+    inline byte sendMsgBuf(unsigned long id, byte ext, byte len, const byte *buf) {
+        return sendMsgBuf(id, ext, 0, len, buf, true);
+    }
+    
     virtual void clearBufferTransmitIfFlags(byte flags = 0) = 0;                        // Clear transmit flags according to status
     virtual byte readRxTxStatus(void) = 0;                                              // read has something send or received
     virtual byte checkClearRxStatus(byte *status) = 0;                                  // read and clear and return first found rx status bit