CAN-FD on the Raspberry Pi 5

Nov 1, 2024

This is a quick write-down of how to use CAN-FD via the MCP2517FD SPI-to-CAN converter.

This is an updated version of my previous article about CAN-FD on the Raspberry Pi 2.

My Setup

Embedded Linux System: Raspberry Pi 5 Model B Rev 1.0

CAN-FD Board: MIKROE-2379 MCP2517FD from MikroElektronika

Kernel: Linux raspberrypi 6.6.59-v8-16k+ #1810 SMP PREEMPT Fri Nov 1 13:15:07 GMT 2024 aarch64 GNU/Linux

The Hardware version of your Raspberry Pi can be read using:

cat /sys/firmware/devicetree/base/model

The Kernel version can be read using:

uname -a

Now, out of principle, we first run:

sudo apt-get update

sudo apt-get upgrade

Install some CAN utilities:

sudo apt-get install can-utils

Edit /boot/firmware/config.txt

sudo nano /boot/firmware/config.txt

Turn on SPI by uncommenting:

dtparam=spi=on

and add:

dtoverlay=mcp251xfd,spi0-0,oscillator=40000000,interrupt=12

Note: Set spi, oscillator and interrupt according to your hardware.

Check

After rebooting, check the boot log using:

dmesg

The boot log should contain something like this:

mcp251xfd spi0.0 can0: MCP2517FD rev0.0 (-RX_INT -PLL +MAB_NO_WARN +CRC_REG +CRC_RX +CRC_TX +ECC -HD o:40.00MHz c:40.00MHz m:20.00MHz rs:17.00MHz es:16.66MHz rf:17.00MHz ef:16.66MHz) successfully initialized.

The device should now be available in the device tree. This can be verified using the following command:

ls /sys/bus/spi/devices/spi0.0/net/can0/

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Initialize

sudo ip link set can0 up type can bitrate 500000 dbitrate 500000 sample-point 0.75 dsample-point 0.75 sjw 2 fd on

Note: Change initialization according to your BUS settings.

Now, the can0 interface should be visible when running:

ifconfig

Test

Use

candump can0