MCP2515

MCP2515
Stand-Alone CAN Controller With SPI™ Interface

Features Description
• Implements CAN V2.0B at 1 Mb/s: Microchip Technology’s MCP2515 is a stand-alone
- 0 – 8 byte length in the data field Controller Area Network (CAN) controller that imple-
- Standard and extended data and remote ments the CAN specification, version 2.0B. It is capable
frames of transmitting and receiving both standard and
extended data and remote frames. The MCP2515 has
• Receive buffers, masks and filters:
two acceptance masks and six acceptance filters that
- Two receive buffers with prioritized message are used to filter out unwanted messages, thereby
storage reducing the host MCUs overhead. The MCP2515
- Six 29-bit filters interfaces with microcontrollers (MCUs) via an industry
- Two 29-bit masks standard Serial Peripheral Interface (SPI).
• Data byte filtering on the first two data bytes
(applies to standard data frames) Package Types
• Three transmit buffers with prioritizaton and abort
18-Lead PDIP/SOIC
features.
• High-speed SPI™ Interface (10 MHz): TXCAN 1 18 VDD
- SPI modes 0,0 and 1,1 RXCAN 2 17 RESET
• One-shot mode ensures message transmission is CLKOUT/SOF 3 16 CS
attempted only one time
MCP2515
TX0RTS 4 15 SO
• Clock out pin with programmable prescaler:
TX1RTS 5 14 SI
- Can be used as a clock source for other
device(s) TX2RTS 6 13 SCK
• Start-of-Frame (SOF) signal is available for OSC2 7 12 INT
monitoring the SOF signal: 11
OSC1 8 RX0BF
- Can be used for time-slot-based protocols
Vss 9 10 RX1BF
and/or bus diagnostics to detect early bus
degredation
• Interrupt output pin with selectable enables
• Buffer Full output pins configurable as:
- Interrupt output for each receive buffer 20-LEAD TSSOP
- General purpose output
TXCAN 1 20 VDD
• Request-to-Send (RTS) input pins individually RXCAN 2 19 RESET
configurable as: CLKOUT/SOF 3 18 CS
- Control pins to request transmission for each TX0RTS 4 17 SO
MCP2515
transmit buffer TX1RTS 5 16 SI

- General purpose inputs NC 6 15 NC
TX2RTS 7 14 SCK
• Low-power CMOS technology:
OSC2 8 13 INT
- Operates from 2.7V – 5.5V 9 12 RX0BF
OSC1
- 5 mA active current (typical) VSS 10 11 RX1BF
- 1 µA standby current (typical) (Sleep mode)
• Temperature ranges supported:
- Industrial (I): -40°C to +85°C
- Extended (E): -40°C to +125°C
 2004 Microchip Technology Inc. Preliminary DS21801C-page 1

MCP2515
NOTES:
DS21801C-page 2 Preliminary  2004 Microchip Technology Inc.

MCP2515
1.0 DEVICE OVERVIEW 1.2 Control Logic
The MCP2515 is a stand-alone CAN controller The control logic block controls the setup and operation
developed to simplify applications that require of the MCP2515 by interfacing to the other blocks in
interfacing with a CAN bus. A simple block diagram of order to pass information and control.
the MCP2515 is shown in Figure 1-1. The device Interrupt pins are provided to allow greater system
consists of three main blocks: flexibility. There is one multi-purpose interrupt pin (as
1. The CAN module, which includes the CAN well as specific interrupt pins) for each of the receive
protocol engine, masks, filters, transmit and registers that can be used to indicate a valid message
receive buffers. has been received and loaded into one of the receive
2. The control logic and registers that are used to buffers. Use of the specific interrupt pins is optional.
configure the device and its operation. The general purpose interrupt pin, as well as status
registers (accessed via the SPI interface), can also be
3. The SPI protocol block.
used to determine when a valid message has been
An example system implementation using the device is received.
shown in Figure 1-2.
Additionally, there are three pins available to initiate
1.1 CAN Module immediate transmission of a message that has been
loaded into one of the three transmit registers. Use of
The CAN module handles all functions for receiving these pins is optional and initiating message
and transmitting messages on the CAN bus. Messages transmissions can also be accomplished by utilizing
are transmitted by first loading the appropriate control registers, accessed via the SPI interface.
message buffer and control registers. Transmission is
initiated by using control register bits via the SPI 1.3 SPI Protocol Block
interface or by using the transmit enable pins. Status
The MCU interfaces to the device via the SPI interface.
and errors can be checked by reading the appropriate
Writing to, and reading from, all registers is
registers. Any message detected on the CAN bus is
accomplished using standard SPI read and write
checked for errors and then matched against the user-
commands, in addition to specialized SPI commands.
defined filters to see if it should be moved into one of
the two receive buffers.
FIGURE 1-1: BLOCK DIAGRAM

CAN Module
RXCAN
CAN TX and RX Buffers SPI™ CS
Protocol Interface SCK SPI
Engine Masks and Filters Logic Bus
SI
TXCAN SO
Control Logic
OSC1
Timing
OSC2
Generation INT
CLKOUT
RX0BF
RX1BF
TX0RTS
Control TX1RTS
and
Interrupt TX2RTS
Registers RESET

MCP2515
FIGURE 1-2: EXAMPLE SYSTEM IMPLEMENTATION
Node Node Node

Controller Controller Controller
SPI™ SPI SPI
MCP2515 MCP2515 MCP2515
TX RX TX RX TX RX
XCVR XCVR XCVR
CANH
CANL
TABLE 1-1: PINOUT DESCRIPTION

PDIP/SOIC TSSOP I/O/P
Name Description Alternate Pin Function
Pin # Pin # Type
TXCAN 1 1 O Transmit output pin to CAN bus —

RXCAN 2 2 I Receive input pin from CAN bus —
CLKOUT 3 3 O Clock output pin with programmable Start-of-Frame signal
prescaler
TX0RTS 4 4 I Transmit buffer TXB0 request-to-send. General purpose digital input.
100 kΩ internal pull-up to VDD 100 kΩ internal pull-up to VDD
OSC2 7 8 O Oscillator output —
OSC1 8 9 I Oscillator input External clock input
VSS 9 10 P Ground reference for logic and I/O pins —
RX1BF 10 11 O Receive buffer RXB1 interrupt pin or General purpose digital output
general purpose digital output
RX0BF 11 12 O Receive buffer RXB0 interrupt pin or General purpose digital output
general purpose digital output
INT 12 13 O Interrupt output pin —
SCK 13 14 I Clock input pin for SPI™ interface —
SI 14 16 I Data input pin for SPI interface —
SO 15 17 O Data output pin for SPI interface —
CS 16 18 I Chip select input pin for SPI interface —
RESET 17 19 I Active low device reset input —
VDD 18 20 P Positive supply for logic and I/O pins —
NC — 6,15 — No internal connection
Note: Type Identification: I = Input; O = Output; P = Power

MCP2515
1.4 Transmit/Receive Buffers/Masks/
Filters
The MCP2515 has three transmit and two receive
buffers, two acceptance masks (one for each receive
buffer) and a total of six acceptance filters. Figure 1-3
shows a block diagram of these buffers and their
connection to the protocol engine.
FIGURE 1-3: CAN BUFFERS AND PROTOCOL ENGINE BLOCK DIAGRAM
BUFFERS Acceptance Mask

RXM1
Acceptance Filter
RXF2
A
A Acceptance Mask Acceptance Filter
c
TXB0 TXB1 TXB2 RXM0 RXF3
c c
MESSAGE
MESSAGE
MESSAGE
c Acceptance Filter Acceptance Filter e
TXREQ
TXREQ
TXREQ
TXERR
TXERR
TXERR
e RXF0 RXF4 p
MLOA
MLOA
MLOA
ABTF
ABTF
ABTF
p t
Acceptance Filter Acceptance Filter
t
RXF1 RXF5
R R
M
X Identifier Identifier X
Message A
B B
Queue B
0 1
Control
Transmit Byte Sequencer Data Field Data Field
PROTOCOL Receive REC

Error
ENGINE Counter TEC
Transmit ErrPas
Error BusOff
Counter
Transmit<7:0> Receive<7:0>
Shift<14:0>
{Transmit<5:0>, Receive<8:0>}
Comparator
Protocol
Finite SOF
State
CRC<14:0> Machine
Bit
Transmit
Timing Clock
Logic Logic Generator
TX RX
Configuration
Registers

MCP2515
1.5 CAN Protocol Engine 1.5.3 ERROR MANAGEMENT LOGIC
The CAN protocol engine combines several functional The Error Management Logic is responsible for the
blocks, shown in Figure 1-4 and described below. fault confinement of the CAN device. Its two counters,
the Receive Error Counter (REC) and the Transmit
1.5.1 PROTOCOL FINITE STATE Error Counter (TEC), are incremented and
MACHINE decremented by commands from the bit stream
processor. According to the values of the error
The heart of the engine is the Finite State Machine counters, the CAN controller is set into the states error-
(FSM). The FSM is a sequencer that controls the active, error-passive or bus-off.
sequential data stream between the TX/RX shift
register, the CRC register and the bus line. The FSM 1.5.4 BIT TIMING LOGIC
also controls the Error Management Logic (EML) and
the parallel data stream between the TX/RX shift The Bit Timing Logic (BTL) monitors the bus line input
registers and the buffers. The FSM ensures that the and handles the bus related bit timing according to the
processes of reception, arbitration, transmission and CAN protocol. The BTL synchronizes on a recessive-
error-signaling are performed according to the CAN to-dominant bus transition at Start-of-Frame (hard syn-
protocol. The automatic retransmission of messages chronization) and on any further recessive-to-dominant
on the bus line is also handled by the FSM. bus line transition if the CAN controller itself does not
transmit a dominant bit (resynchronization). The BTL
1.5.2 CYCLIC REDUNDANCY CHECK also provides programmable time segments to
compensate for the propagation delay time, phase
The Cyclic Redundancy Check register generates the shifts and to define the position of the sample point
Cyclic Redundancy Check (CRC) code, which is within the bit time. The programming of the BTL
transmitted after either the Control Field (for messages depends on the baud rate and external physical delay
with 0 data bytes) or the Data Field and is used to times.
check the CRC field of incoming messages.
FIGURE 1-4: CAN PROTOCOL ENGINE BLOCK DIAGRAM

RX TX
Bit Timing Logic Transmit Logic
SAM
REC
Sample<2:0> Receive
Error Counter
TEC
StuffReg<5:0>
Transmit
ErrPas
Majority Error Counter
Decision BusOff
BusMon
Comparator
CRC<14:0>
Protocol
FSM SOF
Comparator
Shift<14:0>
(Transmit<5:0>, Receive<7:0>)
Receive<7:0> Transmit<7:0>
RecData<7:0> TrmData<7:0>
Interface to Standard Buffer Rec/Trm Addr.

MCP2515
2.0 CAN MESSAGE FRAMES CAN frame will win arbitration due to the assertion of a
dominant lDE bit. Also, the SRR bit in an extended
The MCP2515 supports standard data frames, CAN frame must be recessive to allow the assertion of
extended data frames and remote frames (standard a dominant RTR bit by a node that is sending a
and extended), as defined in the CAN 2.0B standard CAN remote frame.
specification.
The SRR and lDE bits are followed by the remaining
2.1 Standard Data Frame 18 bits of the identifier (Extended lD) and the remote
transmission request bit.
The CAN standard data frame is shown in Figure 2-1. To enable standard and extended frames to be sent
As with all other frames, the frame begins with a Start- across a shared network, the 29-bit extended message
Of-Frame (SOF) bit, which is of the dominant state and identifier is split into 11-bit (most significant) and 18-bit
allows hard synchronization of all nodes. (least significant) sections. This split ensures that the
The SOF is followed by the arbitration field, consisting lDE bit can remain at the same bit position in both the
of 12 bits: the 11-bit identifier and the Remote standard and extended frames.
Transmission Request (RTR) bit. The RTR bit is used Following the arbitration field is the six-bit control field.
to distinguish a data frame (RTR bit dominant) from a The first two bits of this field are reserved and must be
remote frame (RTR bit recessive). dominant. The remaining four bits of the control field
Following the arbitration field is the control field, are the Data Length Code (DLC), which specifies the
consisting of six bits. The first bit of this field is the number of data bytes contained in the message.
Identifier Extension (IDE) bit, which must be dominant The remaining portion of the frame (data field, CRC
to specify a standard frame. The following bit, Reserved field, acknowledge field, end-of-frame and intermis-
Bit Zero (RB0), is reserved and is defined as a dominant sion) is constructed in the same way as a standard data
bit by the CAN protocol. The remaining four bits of the frame (see Section 2.1 “Standard Data Frame”).
control field are the Data Length Code (DLC), which
specifies the number of bytes of data (0 – 8 bytes) 2.3 Remote Frame
contained in the message.
Normally, data transmission is performed on an
After the control field is the data field, which contains
autonomous basis by the data source node (e.g., a
any data bytes that are being sent, and is of the length
sensor sending out a data frame). It is possible,
defined by the DLC (0 – 8 bytes).
however, for a destination node to request data from
The Cyclic Redundancy Check (CRC) field follows the the source. To accomplish this, the destination node
data field and is used to detect transmission errors. The sends a remote frame with an identifier that matches
CRC field consists of a 15-bit CRC sequence, followed the identifier of the required data frame. The
by the recessive CRC Delimiter bit. appropriate data source node will then send a data
The final field is the two-bit Acknowledge (ACK) field. frame in response to the remote frame request.
During the ACK Slot bit, the transmitting node sends There are two differences between a remote frame
out a recessive bit. Any node that has received an (shown in Figure 2-3) and a data frame. First, the RTR
error-free frame acknowledges the correct reception of bit is at the recessive state and, second, there is no
the frame by sending back a dominant bit (regardless data field. In the event of a data frame and a remote
of whether the node is configured to accept that frame with the same identifier being transmitted at the
specific message or not). The recessive acknowledge same time, the data frame wins arbitration due to the
delimiter completes the acknowledge field and may not dominant RTR bit following the identifier. In this way,
be overwritten by a dominant bit. the node that transmitted the remote frame receives
the desired data immediately.
2.2 Extended Data Frame
In the extended CAN data frame, shown in Figure 2-2,
2.4 Error Frame
the SOF bit is followed by the arbitration field, which An error frame is generated by any node that detects a
consists of 32 bits. The first 11 bits are the Most bus error. An error frame, shown in Figure 2-4, consists
Significant bits (MSb) (Base-lD) of the 29-bit identifier. of two fields, an error flag field followed by an error
These 11 bits are followed by the Substitute Remote delimiter field. There are two types of error flag fields.
Request (SRR) bit, which is defined to be recessive. The type of error flag field sent depends upon the error
The SRR bit is followed by the lDE bit, which is status of the node that detects and generates the error
recessive to denote an extended CAN frame. flag field.
It should be noted that if arbitration remains unresolved
after transmission of the first 11 bits of the identifier, and
one of the nodes involved in the arbitration is sending
a standard CAN frame (11-bit identifier), the standard

MCP2515
2.4.1 ACTIVE ERRORS 2.5 Overload Frame
If an error-active node detects a bus error, the node An overload frame, shown in Figure 2-5, has the same
interrupts transmission of the current message by format as an active error frame. An overload frame,
generating an active error flag. The active error flag is however, can only be generated during an interframe
composed of six consecutive dominant bits. This bit space. In this way, an overload frame can be differenti-
sequence actively violates the bit-stuffing rule. All other ated from an error frame (an error frame is sent during
stations recognize the resulting bit-stuffing error and, in the transmission of a message). The overload frame
turn, generate error frames themselves, called error consists of two fields, an overload flag followed by an
echo flags. overload delimiter. The overload flag consists of six
The error flag field, therefore, consists of between six dominant bits followed by overload flags generated by
and twelve consecutive dominant bits (generated by other nodes (and, as for an active error flag, giving a
one or more nodes). The error delimiter field (eight maximum of twelve dominant bits). The overload
recessive bits) completes the error frame. Upon delimiter consists of eight recessive bits. An overload
completion of the error frame, bus activity returns to frame can be generated by a node as a result of two
normal and the interrupted node attempts to resend the conditions:
aborted message. 1. The node detects a dominant bit during the
interframe space, an illegal condition.
Note: Error echo flags typically occur when a Exception: the dominant bit is detected during
localized disturbance causes one or more the third bit of IFS. In this case, the receivers will
(but not all) nodes to send an error flag. interpret this as a SOF.
The remaining nodes generate error flags 2. Due to internal conditions, the node is not yet
in response (echo) to the original error able to start reception of the next message. A
flag. node may generate a maximum of two
sequential overload frames to delay the start of
2.4.2 PASSIVE ERRORS
the next message.
If an error-passive node detects a bus error, the node
transmits an error-passive flag followed by the error Note: Case 2 should never occur with the
delimiter field. The error-passive flag consists of six MCP2515 due to very short internal
consecutive recessive bits and the error frame for an delays.
error-passive node consists of 14 recessive bits. From
this it follows that, unless the bus error is detected by an
2.6 Interframe Space
error-active node or the transmitting node, the message The interframe space separates a preceding frame (of
will continue transmission because the error-passive any type) from a subsequent data or remote frame.
flag does not interfere with the bus. The interframe space is composed of at least three
If the transmitting node generates an error-passive flag, recessive bits called the Intermission. This allows
it will cause other nodes to generate error frames due nodes time for internal processing before the start of
to the resulting bit-stuffing violation. After transmission the next message frame. After the intermission, the
of an error frame, an error-passive node must wait for bus line remains in the recessive state (bus idle) until
six consecutive recessive bits on the bus before the next transmission starts.
attempting to rejoin bus communications.
The error delimiter consists of eight recessive bits and
allows the bus nodes to restart bus communications
cleanly after an error has occurred.

FIGURE 2-1:
 2004 Microchip Technology Inc.

Data Frame (number of bits = 44 + 8N)
12 6 8N (0≤N≤8) 16 7
Arbitration Field Control Data Field CRC Field
Field End-of-
4 Frame
STANDARD DATA FRAME
11 8 8 15
CRC
Start-of-Frame
IFS
ACK Del
Ack Slot Bit
CRC Del
DLC3
ID 10
ID3
ID0
DLC0
IDE
RB0
RTR
0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1
Preliminary
Identifier Data
Length
Message Code
Filtering
Reserved Bit
Stored in Transmit/Receive Buffers
Stored in Buffers
Bit-stuffing
DS21801C-page 9
MCP2515
FIGURE 2-2:
DS21801C-page 10
MCP2515
Data Frame (number of bits = 64 + 8N)

32 6 8N (0 ≤ N ≤ 8) 16 7
Arbitration Field Control Data Field CRC Field
Field End-of-
11 18 8 8 15 Frame
4
CRC
EXTENDED DATA FRAME
IFS
ACK Del
Ack Slot Bit
ID10
ID3
SRR
IDE
EID17
EID0
RTR
RB1
RB0
DLC3
DLC0
ID0
CRC Del
Start-Of-Frame
0 11 000 1 11111111111
Identifier Data
Extended Identifier
Length
Preliminary
Message Code
Filtering
Reserved bits
Stored in Buffers Stored in Transmit/Receive Buffers
Bit-stuffing

FIGURE 2-3:

32 6 16 7
REMOTE FRAME
Arbitration Field Control CRC Field

Field End-of-
11 18 15 Frame
4
CRC
IFS
ACK Del
Ack Slot Bit
ID10
ID3
SRR
IDE
EID17
EID0
RTR
RB1
RB0
DLC3
DLC0
CRC Del
ID0
Start-Of-Frame
0 1 1 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1
Identifier Data
Extended Identifier
Preliminary
Length
Message Code
Filtering Reserved bits
Remote Frame with Extended Identifier
No data field
DS21801C-page 11
MCP2515
FIGURE 2-4:
DS21801C-page 12
MCP2515
Interrupted Data Frame
12 6 8N (0≤N≤8)
Arbitration Field Control Data Field
Field
4
11 8 8
Start-Of-Frame
DLC3
ID 10
ID3
ID0
DLC0
IDE
RB0
RTR
ACTIVE ERROR FRAME
0 0 0 0
Identifier Data
Length
Message Code
Filtering
Preliminary
Reserved Bit
Error Frame
Bit-stuffing 8
6 £6
Data Frame or
Error Echo Error Inter-Frame Space or
Remote Frame
Flag Error Delimiter Overload Frame
Flag
0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0

FIGURE 2-5:

Remote Frame (number of bits = 44)
12 6 16 7
Arbitration Field Control CRC Field
Field End-of-
OVERLOAD FRAME
4 Frame
11 15
CRC
Start-Of-Frame
ACK Del
Ack Slot Bit
CRC Del
DLC3
ID 10
ID0
IDE
DLC0
RB0
RTR
0 1 0 0 1 1 1 1 1 1 1 1 1
Overload Frame
Preliminary
End-of-Frame or Inter-Frame Space or
Error Delimiter or 6 8 Error Frame
Overload Delimiter
Overload Overload
Flag Delimiter
0 0 0 0 0 0 0 1 1 1 1 1 1 1 1
DS21801C-page 13
MCP2515
MCP2515
NOTES:

MCP2515
3.0 MESSAGE TRANSMISSION 3.3 Initiating Transmission
In order to initiate message transmission, the
3.1 Transmit Buffers TXBnCTRL.TXREQ bit must be set for each buffer to
The MCP2515 implements three transmit buffers. Each be transmitted. This can be accomplished by:
of these buffers occupies 14 bytes of SRAM and are • Writing to the register via the SPI write command
mapped into the device memory map. • Sending the SPI RTS command
The first byte, TXBnCTRL, is a control register • Setting the TXnRTS pin low for the particular
associated with the message buffer. The information in transmit buffer(s) that are to be transmitted
this register determines the conditions under which the If transmission is initiated via the SPI interface, the
message will be transmitted and indicates the status of TXREQ bit can be set at the same time as the TXP
the message transmission (see Register 3-1). priority bits.
Five bytes are used to hold the standard and extended When TXBnCTRL.TXREQ is set, the TXBnCTRL.ABTF,
identifiers, as well as other message arbitration TXBnCTRL.MLOA and TXBnCTRL.TXERR bits will be
information (see Register 3-3 through Register 3-7). cleared automatically.
The last eight bytes are for the eight possible data
bytes of the message to be transmitted (see Note: Setting the TXBnCTRL.TXREQ bit does
Register 3-8). not initiate a message transmission. It
At a minimum, the TXBnSIDH, TXBnSIDL and merely flags a message buffer as being
TXBnDLC registers must be loaded. If data bytes are ready for transmission. Transmission will
present in the message, the TXBnDm registers must start when the device detects that the bus
also be loaded. If the message is to use extended is available.
identifiers, the TXBnEIDm registers must also be Once the transmission has completed successfully, the
loaded and the TXBnSIDL.EXIDE bit set. TXBnCTRL.TXREQ bit will be cleared, the
Prior to sending the message, the MCU must initialize CANINTF.TXnIF bit will be set and an interrupt will be
the CANINTE.TXInE bit to enable or disable the generated if the CANINTE.TXnIE bit is set.
generation of an interrupt when the message is sent. If the message transmission fails, the
TXBnCTRL.TXREQ will remain set. This indicates that
Note: The TXBnCTRL.TXREQ bit must be clear the message is still pending for transmission and one
(indicating the transmit buffer is not of the following condition flags will be set:
pending transmission) before writing to
the transmit buffer. • If the message started to transmit but encoun-
tered an error condition, the TXBnCTRL.TXERR
and the CANINTF.MERRF bits will be set and an
3.2 Transmit Priority
interrupt will be generated on the INT pin if the
Transmit priority is a prioritization within the MCP2515 CANINTE.MERRE bit is set
of the pending transmittable messages. This is inde- • If the message is lost, arbitration at the
pendent from, and not necessarily related to, any prior- TXBnCTRL.MLOA bit will be set
itization implicit in the message arbitration scheme built
into the CAN protocol. Note: If One-shot mode is enabled
(CANCTRL.OSM), the above conditions
Prior to sending the SOF, the priority of all buffers that
will still exist. However, the TXREQ bit will
are queued for transmission is compared. The transmit
be cleared and the message will not
buffer with the highest priority will be sent first. For
attempt transmission a second time.
example, if transmit buffer 0 has a higher priority setting
than transmit buffer 1, buffer 0 will be sent first.
3.4 One-Shot Mode
If two buffers have the same priority setting, the buffer
with the highest buffer number will be sent first. For One-shot mode ensures that a message will only
example, if transmit buffer 1 has the same priority attempt to transmit one time. Normally, if a CAN
setting as transmit buffer 0, buffer 1 will be sent first. message loses arbitration, or is destroyed by an error
frame, the message is retransmitted. With One-shot
There are four levels of transmit priority. If
mode enabled, a message will only attempt to transmit
TXBnCTRL.TXP<1:0> for a particular message buffer
one time, regardless of arbitration loss or error frame.
is set to 11, that buffer has the highest possible priority.
If TXBnCTRL.TXP<1:0> for a particular message One-shot mode is required to maintain time slots in
buffer is 00, that buffer has the lowest possible priority. deterministic systems, such as TTCAN.

MCP2515
3.5 TXnRTS PINS 3.6 Aborting Transmission
The TXnRTS pins are input pins that can be configured The MCU can request to abort a message in a specific
as: message buffer by clearing the associated
• Request-to-send inputs, which provides an TXBnCTRL.TXREQ bit.
alternative means of initiating the transmission of In addition, all pending messages can be requested to
a message from any of the transmit buffers be aborted by setting the CANCTRL.ABAT bit. This bit
• Standard digital inputs MUST be reset (typically after the TXREQ bits have
been verified to be cleared) to continue transmitting
Configuration and control of these pins is accomplished
messages. The CANCTRL.ABTF flag will only be set if
using the TXRTSCTRL register (see Register 3-2). The
the abort was requested via the CANCTRL.ABAT bit.
TXRTSCTRL register can only be modified when the
Aborting a message by resetting the TXREQ bit does
MCP2515 is in Configuration mode (see Section 10.0
NOT cause the ABTF bit to be set.
“Modes of Operation”). If configured to operate as a
request-to-send pin, the pin is mapped into the Note: Messages that are currently transmitting
respective TXBnCTRL.TXREQ bit for the transmit when the abort was requested will
buffer. The TXREQ bit is latched by the falling edge of continue to transmit. If the message does
the TXnRTS pin. The TXnRTS pins are designed to not successfully complete transmission
allow them to be tied directly to the RXnBF pins to (i.e., lost arbitration or was interrupted by
automatically initiate a message transmission when the an error frame), it will then be aborted.
RXnBF pin goes low.
The TXnRTS pins have internal pull-up resistors of
100 kΩ (nominal).

MCP2515
FIGURE 3-1: TRANSMIT MESSAGE FLOWCHART
Start
The message transmission
sequence begins when the
device determines that the
TXBnCTRL.TXREQ for any of
the transmit registers has been
Are any set.
No TXBnCTRL.TXREQ
bits = 1
?
Yes
Clearing the TxBnCTRL.TXREQ bit

Clear: while it is set, or setting the CAN-
TXBnCTRL.ABTF CTRL.ABAT bit before the message
TXBnCTRL.MLOA has started transmission, will abort
TXBnCTRL.TXERR the message.
Is is
CAN bus available No TXBnCTRL.TXREQ=0 No
to start transmission? or CANCTRL.ABAT=1
?
Yes Yes
Examine TXBnCTRL.TXP <1:0> to

Determine Highest Priority Message
Transmit Message
Message
Was No Message error
Error
Message Transmitted or
Successfully? Lost arbitration
? Set
TxBnCTRL.TXERR
Yes Lost
Clear TxBnCTRL.TXREQ Arbitration
Yes
CANINTE.MEERE?
Yes
Generate Set
CANINTE.TXnIE=1? TxBNCTRL.MLOA
Interrupt
No
Generate
Interrupt
No
Set Set
CANTINF.TXnIF CANTINF.MERRF
The CANINTE.TXnIE bit
determines if an interrupt
should be generated when
a message is successfully
transmitted.
GOTO START

MCP2515
REGISTER 3-1: TXBnCTRL - TRANSMIT BUFFER n CONTROL REGISTER
(ADDRESS: 30h, 40h, 50h)
U-0 R-0 R-0 R-0 R/W-0 U-0 R/W-0 R/W-0
— ABTF MLOA TXERR TXREQ — TXP1 TXP0
bit 7 bit 0
bit 7 Unimplemented: Read as ‘0’

bit 6 ABTF: Message Aborted Flag bit
1 = Message was aborted
0 = Message completed transmission successfully
bit 5 MLOA: Message Lost Arbitration bit
1 = Message lost arbitration while being sent
0 = Message did not lose arbitration while being sent
bit 4 TXERR: Transmission Error Detected bit
1 = A bus error occurred while the message was being transmitted
0 = No bus error occurred while the message was being transmitted
bit 3 TXREQ: Message Transmit Request bit
1 = Buffer is currently pending transmission
(MCU sets this bit to request message be transmitted - bit is automatically cleared when
the message is sent)
0 = Buffer is not currently pending transmission
(MCU can clear this bit to request a message abort)
bit 1-0 TXP: Transmit Buffer Priority <1:0> bits
11 = Highest Message Priority
10 = High Intermediate Message Priority
11 = Low Intermediate Message Priority
00 = Lowest Message Priority
Legend:
R = Readable bit W = Writable bit U = Unimplemented bit, read as ‘0’
-n = Value at POR ‘1’ = Bit is set ‘0’ = Bit is cleared x = Bit is unknown

MCP2515
REGISTER 3-2: TXRTSCTRL - TXnRTS PIN CONTROL AND STATUS REGISTER
(ADDRESS: 0Dh)
U-0 U-0 R-x R-x R-x R/W-0 R/W-0 R/W-0
— — B2RTS B1RTS B0RTS B2RTSM B1RTSM B0RTSM
bit 7 bit 0

bit 5 B2RTS: TX2RTS Pin State bit
- Reads state of TX2RTS pin when in Digital Input mode
- Reads as ‘0’ when pin is in ‘Request-to-Send’ mode
bit 4 B1RTS: TX1RTX Pin State bit
bit 3 B0RTS: TX0RTS Pin State bit
bit 2 B2RTSM: TX2RTS Pin mode bit
1 = Pin is used to request message transmission of TXB2 buffer (on falling edge)
0 = Digital input
0 = Digital input
0 = Digital input
Legend:
REGISTER 3-3: TXBnSIDH - TRANSMIT BUFFER n STANDARD IDENTIFIER HIGH

R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x R/W-x
SID10 SID9 SID8 SID7 SID6 SID5 SID4 SID3
bit 7 bit 0
bit 7-0 SID: Standard Identifier bits <10:3>
Legend:

MCP2515
REGISTER 3-4: TXBnSIDL - TRANSMIT BUFFER n STANDARD IDENTIFIER LOW
SID2 SID1 SID0 — EXIDE — EID17 EID16
bit 7 bit 0

bit 4 Unimplemented: Reads as ‘0’
bit 3 EXIDE: Extended Identifier Enable bit
1 = Message will transmit extended identifier
0 = Message will transmit standard identifier
bit 1-0 EID: Extended Identifier bits <17:16>
Legend:
REGISTER 3-5: TXBnEID8 - TRANSMIT BUFFER n EXTENDED IDENTIFIER HIGH

EID15 EID14 EID13 EID12 EID11 EID10 EID9 EID8
bit 7 bit 0
Legend:
REGISTER 3-6: TXBnEID0 - TRANSMIT BUFFER n EXTENDED IDENTIFIER LOW

bit 7 bit 0
Legend:

MCP2515
REGISTER 3-7: TXBnDLC - TRANSMIT BUFFER n DATA LENGTH CODE
— RTR — — DLC3 DLC2 DLC1 DLC0
bit 7 bit 0

bit 6 RTR: Remote Transmission Request bit
1 = Transmitted Message will be a Remote Transmit Request
0 = Transmitted Message will be a Data Frame
bit 5-4 Unimplemented: Reads as ‘0’
bit 3-0 DLC: Data Length Code <3:0> bits
Sets the number of data bytes to be transmitted (0 to 8 bytes)
Note: It is possible to set the DLC to a value greater than 8, however only 8 bytes are
transmitted
Legend:
REGISTER 3-8: TXBnDm - TRANSMIT BUFFER n DATA BYTE m

(ADDRESS: 36h - 3Dh, 46h - 4Dh, 56h - 5Dh)
TXBnDm TXBnDm TXBnDm TXBnDm TXBnDm TXBnDm TXBnDm TXBnDm
7 6 5 4 3 2 1 0
bit 7 bit 0
bit 7-0 TXBnDM7:TXBnDM0: Transmit Buffer n Data Field Bytes m
Legend:

MCP2515
NOTES:

MCP2515
4.0 MESSAGE RECEPTION 4.2 Receive Priority
RXB0, the higher priority buffer, has one mask and two
4.1 Receive Message Buffering message acceptance filters associated with it. The
The MCP2515 includes two full receive buffers with received message is applied to the mask and filters for
multiple acceptance filters for each. There is also a RXB0 first.
separate Message Assembly Buffer (MAB) that acts as RXB1 is the lower priority buffer, with one mask and
a third receive buffer (see Figure 4-2). four acceptance filters associated with it.
In addition to the message being applied to the RB0
4.1.1 MESSAGE ASSEMBLY BUFFER
mask and filters first, the lower number of acceptance
Of the three receive buffers, the MAB is always filters makes the match on RXB0 more restrictive and
committed to receiving the next message from the bus. implies a higher priority for that buffer.
The MAB assembles all messages received. These
When a message is received, bits <3:0> of the
messages will be transferred to the RXBn buffers (See
RXBnCTRL register will indicate the acceptance filter
Register 4-4 to Register 4-9) only if the acceptance
number that enabled reception and whether the
filter criteria is met.
received message is a remote transfer request.
4.1.2 RXB0 AND RXB1 4.2.1 ROLLOVER
The remaining two receive buffers, called RXB0 and
Additionally, the RXB0CTRL register can be configured
RXB1, can receive a complete message from the pro-
such that, if RXB0 contains a valid message and
tocol engine via the MAB. The MCU can access one
another valid message is received, an overflow error
buffer, while the other buffer is available for message
will not occur and the new message will be moved into
reception, or for holding a previously received
RXB1, regardless of the acceptance criteria of RXB1.
message.
4.2.2 RXM BITS
Note: The entire contents of the MAB is moved
into the receive buffer once a message is The RXBnCTRL.RXM bits set special receive modes.
accepted. This means that regardless of Normally, these bits are cleared to 00 to enable
the type of identifier (standard or reception of all valid messages as determined by the
extended) and the number of data bytes appropriate acceptance filters. In this case, the
received, the entire receive buffer is determination of whether or not to receive standard or
overwritten with the MAB contents. extended messages is determined by the
Therefore, the contents of all registers in RFXnSIDL.EXIDE bit in the acceptance filter register.
the buffer must be assumed to have been If the RXBnCTRL.RXM bits are set to 01 or 10, the
modified when any message is received. receiver will only accept messages with standard or
extended identifiers, respectively. If an acceptance
4.1.3 RECEIVE FLAGS/INTERRUPTS filter has the RFXnSIDL.EXIDE bit set such that it does
When a message is moved into either of the receive not correspond with the RXBnCTRL.RXM mode, that
buffers, the appropriate CANINTF.RXnIF bit is set. This acceptance filter is rendered useless. These two
bit must be cleared by the MCU in order to allow a new modes of RXBnCTRL.RXM bits can be used in
message to be received into the buffer. This bit systems where it is known that only standard or
provides a positive lockout to ensure that the MCU has extended messages will be on the bus.
finished with the message before the MCP2515 If the RXBnCTRL.RXM bits are set to 11, the buffer will
attempts to load a new message into the receive buffer. receive all messages, regardless of the values of the
If the CANINTE.RXnIE bit is set, an interrupt will be acceptance filters. Also, if a message has an error
generated on the INT pin to indicate that a valid before the EOF, that portion of the message assembled
message has been received. In addition, the in the MAB before the error frame will be loaded into the
associated RXnBF pin will drive low if configured as a buffer. This mode has some value in debugging a CAN
receive buffer full pin. See Section 4.4 “RX0BF and system and would not be used in an actual system
RX1BF Pins” for details. environment.

MCP2515
4.3 Start-of-Frame Signal 4.4.1 DISABLED
If enabled, the Start-Of-Frame signal is generated on The RXBnBF pins can be disabled to the high-
the SOF pin at the beginning of each CAN message impedance state by clearing BFPCTRL.BnBFE.
detected on the RXCAN pin.
4.4.2 CONFIGURED AS BUFFER FULL
The RXCAN pin monitors an idle bus for a recessive-
to-dominant edge. If the dominant condition remains The RXBnBF pins can be configured to act as buffer full
until the sample point, the MCP2515 interprets this as interrupt pins or as standard digital outputs.
a SOF and a SOF pulse is generated. If the dominant Configuration and status of these pins is available via
condition does not remain until the sample point, the the BFPCTRL register (Register 4-3). When set to
MCP2515 interprets this as a glitch on the bus and no operate in Interrupt mode (by setting BFPCTRL.BxBFE
SOF signal is generated. Figure 4-1 illustrates SOF and BFPCTRL.BxBFM bits), these pins are active-low
signalling and glitch-filtering. and are mapped to the CANINTF.RXnIF bit for each
As with One-shot mode, one use for SOF signaling is receive buffer. When this bit goes high for one of the
for TTCAN-type systems. In addition, by monitoring receive buffers (indicating that a valid message has
both the RXCAN pin and the SOF pin, a MCU can been loaded into the buffer), the corresponding
detect early physical bus problems by detecting small RXBnBF pin will go low. When the CANINTF.RXnIF bit
glitches before they affect the CAN communications. is cleared by the MCU, the corresponding interrupt pin
will go to the logic-high state until the next message is
loaded into the receive buffer.
4.4 RX0BF and RX1BF Pins
In addition to the INT pin, which provides an interrupt
signal to the MCU for many different conditions, the
receive buffer full pins (RX0BF and RX1BF) can be
used to indicate that a valid message has been loaded
into RXB0 or RXB1, respectively. The pins have three
different configurations (Register 4-1):
1. Disabled.
2. Buffer Full Interrupt.
3. Digital Output.
FIGURE 4-1: START-OF-FRAME SIGNALING
Normal SOF Signaling
START-OF-FRAME BIT ID BIT
Sample
Point
RXCAN
SOF
Glitch-Filtering
EXPECTED START-OF-FRAME BIT
Expected Sample
Point BUS IDLE
RXCAN
SOF

MCP2515
4.4.3 CONFIGURED AS DIGITAL OUTPUT TABLE 4-1: CONFIGURING RXNBF PINS
When used as digital outputs, the BFPCTRL.BxBFM bit BnBFE BnBFM BnBFS Pin Status
must be cleared and BFPCTRL.BnBFE must be set for
0 X X Disabled, high-impedance
the associated buffer. In this mode, the state of the pin
is controlled by the BFPCTRL.BnBFS bits. Writing a ‘1’ 1 1 X Receive buffer interrupt
to the BnBFS bit will cause a high level to be driven on 1 0 0 Digital output = 0
the associated buffer full pin, while a ‘0’ will cause the 1 0 1 Digital output = 1
pin to drive low. When using the pins in this mode, the
state of the pin should be modified only by using the Bit
Modify SPI command to prevent glitches from
occurring on either of the buffer full pins.
FIGURE 4-2: RECEIVE BUFFER BLOCK DIAGRAM
Note: Messages received in the MAB are intially

applied to the mask and filters of RXB0. In
addition, only one filter match occurs (e.g.,
Acceptance Mask
if the message matches both RXF0 and
RXM1
RXF2, the match will be for RXF0 and the
message will be moved into RXB0).
Acceptance Filter
RXF2
Acceptance Mask Acceptance Filter

RXM0 RXF3
A
c
Acceptance Filter Acceptance Filter c
RXF0 RXF4 e
A p
c t
c Acceptance Filter Acceptance Filter
e RXF1 RXF5
p
t
R R
Identifier M Identifier
X X
A
B B
B
0 1
Data Field Data Field

MCP2515
FIGURE 4-3: RECEIVE FLOW FLOWCHART
Start
Detect
No
Start of
Message?
Yes
Begin Loading Message into

Message Assembly Buffer (MAB)
Valid
Generate No
Error Message
Frame Received?
Yes
Meets Meets
Yes No Yes
a filter criteria a filter criteria
for RXB0? for RXB1?
No
Go to Start
Determines if the receive
register is empty and able
to accept a new message
Determines if RXB0 can roll

over into RXB1, if it is full.
Is No Is Yes
CANINTF.RX0IF = 0? RXB0CTRL.BUKT = 1?
Yes No
No Is
Move message into RXB0 Generate Overflow Error: Generate Overflow Error: CANINTF.RX1IF = 0?
Set EFLG.RX0OVR Set EFLG.RX1OVR
Set CANINTF.RX0IF = 1 Yes
No Move message into RXB1

Is
Set RXB0CTRL.FILHIT <0>
CANINTE.ERRIE = 1?
according to which filter criteria
Set CANINTF.RX1IF = 1
Yes
Set RXB0CTRL.FILHIT <2:0>
Generate according to which filter criteria
Go to Start
Interrupt on INT was met
Yes Generate Yes

CANINTE.RX0IE = 1? CANINTE.RX1IE = 1?
Interrupt on INT
RXB0 Set CANSTAT <3:0> accord- RXB1

No No
ing to which receive buffer
the message was loaded into
Are Are
BFPCTRL.B0BFM = 1 Yes Yes BFPCTRL.B1BFM = 1
Set RXBF0 Set RXBF1 and
and Pin = 0
Pin = 0 BF1CTRL.B1BFE = 1?
BF1CTRL.B0BFE = 1?
No No

MCP2515
REGISTER 4-1: RXB0CTRL - RECEIVE BUFFER 0 CONTROL
(ADDRESS: 60h)
U-0 R/W-0 R/W-0 U-0 R-0 R/W-0 R-0 R-0
— RXM1 RXM0 — RXRTR BUKT BUKT1 FILHIT0
bit 7 bit 0

bit 6-5 RXM: Receive Buffer Operating Mode bits
11 = Turn mask/filters off; receive any message
10 = Receive only valid messages with extended identifiers that meet filter criteria
01 = Receive only valid messages with standard identifiers that meet filter criteria
00 = Receive all valid messages using either standard or extended identifiers that meet filter
criteria
bit 3 RXRTR: Received Remote Transfer Request bit
1 = Remote Transfer Request Received
0 = No Remote Transfer Request Received
bit 2 BUKT: Rollover Enable bit
1 = RXB0 message will rollover and be written to RXB1 if RXB0 is full
0 = Rollover disabled
bit 1 BUKT1: Read-only Copy of BUKT bit (used internally by the MCP2515)
bit 0 FILHIT: Filter Hit bit - indicates which acceptance filter enabled reception of message
1 = Acceptance Filter 1 (RXF1)
Note: If a rollover from RXB0 to RXB1 occurs, the FILHIT bit will reflect the filter that accepted
the message that rolled over.
Legend:

MCP2515
REGISTER 4-2: RXB1CTRL - RECEIVE BUFFER 1 CONTROL
(ADDRESS: 70h)
U-0 R/W-0 R/W-0 U-0 R-0 R-0 R-0 R-0
— RXM1 RXM0 — RXRTR FILHIT2 FILHIT1 FILHIT0
bit 7 bit 0

bit 6-5 RXM: Receive Buffer Operating Mode bits
11 = Turn mask/filters off; receive any message
10 = Receive only valid messages with extended identifiers that meet filter criteria
01 = Receive only valid messages with standard identifiers that meet filter criteria
00 = Receive all valid messages using either standard or extended identifiers that meet filter
criteria
bit 3 RXRTR: Received Remote Transfer Request bit
1 = Remote Transfer Request Received
0 = No Remote Transfer Request Received
bit 2-0 FILHIT: Filter Hit bits - indicates which acceptance filter enabled reception of message
001 = Acceptance Filter 1 (RXF1) (Only if BUKT bit set in RXB0CTRL)
000 = Acceptance Filter 0 (RXF0) (Only if BUKT bit set in RXB0CTRL)
Legend:

MCP2515
REGISTER 4-3: BFPCTRL - RXnBF PIN CONTROL AND STATUS
(ADDRESS: 0Ch)
U-0 U-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
— — B1BFS B0BFS B1BFE B0BFE B1BFM B0BFM
bit 7 bit 0

bit 5 B1BFS: RX1BF Pin State bit (Digital Output mode only)
- Reads as ‘0’ when RX1BF is configured as interrupt pin
bit 4 B0BFS: RX0BF Pin State bit (Digital Output mode only)
- Reads as ‘0’ when RX0BF is configured as interrupt pin
bit 3 B1BFE: RX1BF Pin Function Enable bit
1 = Pin function enabled, operation mode determined by B1BFM bit
0 = Pin function disabled, pin goes to high-impedance state
bit 2 B0BFE: RX0BF Pin Function Enable bit
1 = Pin function enabled, operation mode determined by B0BFM bit
0 = Pin function disabled, pin goes to high-impedance state
bit 1 B1BFM: RX1BF Pin Operation Mode bit
1 = Pin is used as interrupt when valid message loaded into RXB1
0 = Digital Output mode
bit 0 B0BFM: RX0BF Pin Operation Mode bit
1 = Pin is used as interrupt when valid message loaded into RXB0
0 = Digital Output mode
Legend:
REGISTER 4-4: RXBnSIDH - RECEIVE BUFFER n STANDARD IDENTIFIER HIGH

(ADDRESS: 61h, 71h)
R-x R-x R-x R-x R-x R-x R-x R-x
bit 7 bit 0

These bits contain the eight most significant bits of the Standard Identifier for the received mes-
sage
Legend:

MCP2515
REGISTER 4-5: RXBnSIDL - RECEIVE BUFFER n STANDARD IDENTIFIER LOW
(ADDRESS: 62h, 72h)
R-x R-x R-x R-x R-x U-0 R-x R-x
SID2 SID1 SID0 SRR IDE — EID17 EID16
bit 7 bit 0

These bits contain the three least significant bits of the Standard Identifier for the received
message
bit 4 SRR: Standard Frame Remote Transmit Request bit (valid only if IDE bit = ‘0’)
1 = Standard Frame Remote Transmit Request Received
0 = Standard Data Frame Received
bit 3 IDE: Extended Identifier Flag bit
This bit indicates whether the received message was a Standard or an Extended Frame
1 = Received message was an Extended Frame
0 = Received message was a Standard Frame
These bits contain the two most significant bits of the Extended Identifier for the received
message
Legend:
REGISTER 4-6: RXBnEID8 - RECEIVE BUFFER n EXTENDED IDENTIFIER HIGH

(ADDRESS: 63h, 73h)
bit 7 bit 0

These bits hold bits 15 through 8 of the Extended Identifier for the received message
Legend:

MCP2515
REGISTER 4-7: RXBnEID0 - RECEIVE BUFFER n EXTENDED IDENTIFIER LOW
(ADDRESS: 64h, 74h)
bit 7 bit 0

These bits hold the least significant eight bits of the Extended Identifier for the received
message
Legend:
REGISTER 4-8: RXBnDLC - RECEIVE BUFFER n DATA LENGHT CODE

(ADDRESS: 65h, 75h)
U-0 R-x R-x R-x R-x R-x R-x R-x
— RTR RB1 RB0 DLC3 DLC2 DLC1 DLC0
bit 7 bit 0

bit 6 RTR: Extended Frame Remote Transmission Request bit
(valid only when RXBnSIDL.IDE = ‘1’)
1 = Extended Frame Remote Transmit Request Received
0 = Extended Data Frame Received
bit 5 RB1: Reserved Bit 1
bit 4 RB0: Reserved Bit 0
bit 3-0 DLC: Data Length Code bits <3:0>
Indicates number of data bytes that were received
Legend:
REGISTER 4-9: RXBnDM - RECEIVE BUFFER n DATA BYTE M

(ADDRESS: 66h - 6Dh, 76h - 7Dh)
RBnDm7 RBnDm6 RBnDm5 RBnDm4 RBnDm3 RBnDm2 RBnDm1 RBnDm0
bit 7 bit 0
bit 7-0 RBnDm7:RBnDm0: Receive Buffer n Data Field Bytes m

Eight bytes containing the data bytes for the received message
Legend:

MCP2515
4.5 Message Acceptance Filters and identifier is compared to the masks and filters to deter-
Masks mine if the message should be loaded into a receive
buffer. The mask essentially determines which bits to
The message acceptance filters and masks are used to apply the acceptance filters to. If any mask bit is set to
determine if a message in the message assembly a zero, that bit will automatically be accepted,
buffer should be loaded into either of the receive regardless of the filter bit.
buffers (see Figure 4-5). Once a valid message has
been received into the MAB, the identifier fields of the TABLE 4-2: FILTER/MASK TRUTH TABLE
message are compared to the filter values. If there is a
Message Accept or
match, that message will be loaded into the appropriate Mask Bit
Filter Bit n Identifier Reject bit
receive buffer. n
bit n
4.5.1 DATA BYTE FILTERING 0 X X Accept
When receiving standard data frames (11-bit identifier), 1 0 0 Accept
the MCP2515 automatically applies 16 bits of masks 1 0 1 Reject
and filters normally associated with extended 1 1 0 Reject
identifiers to the first 16 bits of the data field (data bytes
1 1 1 Accept
0 and 1). Figure 4-4 illustrates how masks and filters
apply to extended and standard data frames. Note: X = don’t care
Data byte filtering reduces the load on the MCU when As shown in the receive buffers block diagram
implementing Higher Layer Protocols (HLPs) that filter (Figure 4-2), acceptance filters RXF0 and RXF1 (and
on the first data byte (e.g., DeviceNet™). filter mask RXM0) are associated with RXB0. Filters
RXF2, RXF3, RXF4, RXF5 and mask RXM1 are
4.5.2 FILTER MATCHING associated with RXB1.
The filter masks (see Register 4-14 through
Register 4-17) are used to determine which bits in the
identifier are examined with the filters. A truth table is
shown in Table 4-2 that indicates how each bit in the
FIGURE 4-4: MASKS AND FILTERS APPLY TO CAN FRAMES
Extended Frame
ID10 ID0 EID17 EID0
Masks and Filters apply to the entire 29-bit ID field
Standard Data Frame
ID10 ID0 * Data Byte 0 Data Byte 1

11-bit ID Standard frame 16-bit data filtering *
* The two MSb (EID17 and EID16) mask and filter bits are not used.

MCP2515
4.5.3 FILHIT BITS If the BUKT bit is clear, there are six codes
corresponding to the six filters. If the BUKT bit is set,
Filter matches on received messages can be
there are six codes corresponding to the six filters, plus
determined by the FILHIT bits in the associated
two additional codes corresponding to RXF0 and RXF1
RXBnCTRL register. RXB0CTRL.FILHIT0 for buffer 0
filters that roll over into RXB1.
and RXB1CTRL.FILHIT<2:0> for buffer 1.
The three FILHIT bits for receive buffer 1 (RXB1) are 4.5.4 MULTIPLE FILTER MATCHES
coded as follows:
If more than one acceptance filter matches, the FILHIT
- 101 = Acceptance Filter 5 (RXF5) bits will encode the binary value of the lowest
- 100 = Acceptance Filter 4 (RXF4) numbered filter that matched. For example, if filter
- 011 = Acceptance Filter 3 (RXF3) RXF2 and filter RXF4 match, FILHIT will be loaded with
the value for RXF2. This essentially prioritizes the
- 010 = Acceptance Filter 2 (RXF2)
acceptance filters with a lower-number filter having
- 001 = Acceptance Filter 1 (RXF1) higher priority. Messages are compared to filters in
- 000 = Acceptance Filter 0 (RXF0) ascending order of filter number. This also insures that
the message will only be received into one buffer. This
Note: 000 and 001 can only occur if the BUKT bit
implies that RXB0 has a higher priority than RXB1.
in RXB0CTRL is set, allowing RXB0
messages to roll over into RXB1. 4.5.5 CONFIGURING THE MASKS AND
RXB0CTRL contains two copies of the BUKT bit and FILTERS
the FILHIT<0> bit.
The mask and filter registers can only be modified
The coding of the BUKT bit enables these three bits to when the MCP2515 is in Configuration mode (see
be used similarly to the RXB1CTRL.FILHIT bits and to Section 10.0 “Modes of Operation”).
distinguish a hit on filter RXF0 and RXF1 in either
RXB0 or after a roll over into RXB1.
- 111 = Acceptance Filter 1 (RXB1)
FIGURE 4-5: MESSAGE ACCEPTANCE MASK AND FILTER OPERATION
Acceptance Filter Register Acceptance Mask Register
RXFn0 RXMn0
RXMn1 RxRqst
RXFn1
RXFnn RXMnn
Message Assembly Buffer

Identifier

MCP2515
REGISTER 4-10: RXFnSIDH - FILTER n STANDARD IDENTIFIER HIGH
(ADDRESS: 00h, 04h, 08h, 10h, 14h, 18h)
bit 7 bit 0
bit 7-0 SID: Standard Identifier Filter bits <10:3>

These bits hold the filter bits to be applied to bits <10:3> of the Standard Identifier portion of a
received message
Legend:
REGISTER 4-11: RXFnSIDL - FILTER n STANDARD IDENTIFIER LOW

(ADDRESS: 01h, 05h, 09h, 11h, 15h, 19h)
R/W-x R/W-x R/W-x U-0 R/W-x U-0 R/W-x R/W-x
SID2 SID1 SID0 — EXIDE — EID17 EID16
bit 7 bit 0
bit 7-5 SID: Standard Identifier Filter bits <2:0>

These bits hold the filter bits to be applied to bits <2:0> of the Standard Identifier portion of a
received message
bit 3 EXIDE: Extended Identifier Enable bit
1 = Filter is applied only to Extended Frames
0 = Filter is applied only to Standard Frames
bit 1-0 EID: Extended Identifier Filter bits <17:16>
These bits hold the filter bits to be applied to bits <17:16> of the Extended Identifier portion of
a received message
Legend:

MCP2515
REGISTER 4-12: RXFnEID8 - FILTER n EXTENDED IDENTIFIER HIGH
(ADDRESS: 02h, 06h, 0Ah, 12h, 16h, 1Ah)
bit 7 bit 0

These bits hold the filter bits to be applied to bits <15:8> of the Extended Identifier portion of a
received message
Legend:
REGISTER 4-13: RXFnEID0 - FILTER n EXTENDED IDENTIFIER LOW

(ADDRESS: 03h, 07h, 0Bh, 13h, 17h, 1Bh)
bit 7 bit 0

These bits hold the filter bits to be applied to the bits <7:0> of the Extended Identifier portion of
a received message
Legend:
REGISTER 4-14: RXMnSIDH - MASK n STANDARD IDENTIFIER HIGH

(ADDRESS: 20h, 24h)
R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0 R/W-0
bit 7 bit 0
bit 7-0 SID: Standard Identifier Mask bits <10:3>

These bits hold the mask bits to be applied to bits <10:3> of the Standard Identifier portion of
a received message
Legend:

MCP2515
REGISTER 4-15: RXMnSIDL - MASK n STANDARD IDENTIFIER LOW
(ADDRESS: 21h, 25h)
R/W-0 R/W-0 R/W-0 U-0 U-0 U-0 R/W-0 R/W-0
SID2 SID1 SID0 — — — EID17 EID16
bit 7 bit 0
bit 7-5 SID: Standard Identifier Mask bits <2:0>

These bits hold the mask bits to be applied to bits<2:0> of the Standard Identifier portion of a
received message
bit 1-0 EID: Extended Identifier Mask bits <17:16>
These bits hold the mask bits to be applied to bits <17:16> of the Extended Identifier portion of
a received message
Legend:
REGISTER 4-16: RXMnEID8 - MASK n EXTENDED IDENTIFIER HIGH

(ADDRESS: 22h, 26h)
bit 7 bit 0

These bits hold the filter bits to be applied to bits <15:8> of the Extended Identifier portion of a
received message
Legend:
REGISTER 4-17: RXMnEID0 - MASK n EXTENDED IDENTIFIER LOW

(ADDRESS: 23h, 27h)
bit 7 bit 0
bit 7-0 EID: Extended Identifier Mask bits <7:0>

These bits hold the mask bits to be applied to the bits <7:0> of the Extended Identifier portion
of a received message
Legend:

MCP2515
5.0 BIT TIMING 5.1 The CAN Bit TIme
All nodes on a given CAN bus must have the same All devices on the CAN bus must use the same bit rate.
nominal bit rate. The CAN protocol uses Non Return to However, all devices are not required to have the same
Zero (NRZ) coding, which does not encode a clock master oscillator clock frequency. For the different
within the data stream. Therefore, the receive clock clock frequencies of the individual devices, the bit rate
must be recovered by the receiving nodes and has to be adjusted by appropriately setting the baud
synchronized to the transmitter’s clock. rate prescaler and number of time quanta in each
segment.
As oscillators and transmission times may vary from
node to node, the receiver must have some type of The CAN bit time is made up of non-overlapping
Phase Lock Loop (PLL) synchronized to data segments. Each of these segments are made up of
transmission edges to synchronize and maintain the integer units called Time Quanta (TQ), explained later
receiver clock. Since the data is NRZ-coded, it is in this data sheet. The Nominal Bit Rate (NBR) is
necessary to include bit-stuffing to ensure that an edge defined in the CAN specification as the number of bits
occurs at least every six bit times to maintain the Digital per second transmitted by an ideal transmitter with no
Phase Lock Loop (DPLL) synchronization. resynchronization. It can be described with the
equation:
The bit timing of the MCP2515 is implemented using a
DPLL that is configured to synchronize to the incoming
data, and provide the nominal timing for the transmitted EQUATION 5-1:
data. The DPLL breaks each bit time into multiple 1
NBR = fbit = -------
segments made up of minimal periods of time, called t bit
the Time Quanta (TQ).
Bus timing functions executed within the bit time frame
(such as synchronization to the local oscillator, network Nominal Bit Time
transmission delay compensation and sample point
The Nominal Bit Time (NBT) (tbit) is made up of non-
positioning) are defined by the programmable bit timing
overlapping segments (Figure 5-1). Therefore, the
logic of the DPLL.
NBT is the summation of the following segments:
t bit = t SyncSeg + t PropSeg + t PS1 + t PS2
Associated with the NBT are the sample point,

Synchronization Jump Width (SJW) and Information
Processing Time (IPT), which are explained later.
SYNCHRONIZATION SEGMENT
The Synchronization Segment (SyncSeg) is the first
segment in the NBT and is used to synchronize the
nodes on the bus. Bit edges are expected to occur
within the SyncSeg. This segment is fixed at 1 TQ.
FIGURE 5-1: CAN BIT TIME SEGMENTS
SyncSeg PropSeg PhaseSeg1 (PS1) PhaseSeg2 (PS2)
Sample
Point
Nominal Bit Time (NBT), tbit

MCP2515
PROPAGATION SEGMENT Therefore:
The Propagation Segment (PropSeg) exists to
PS2 min = IPT = 2TQ
compensate for physical delays between nodes. The
propagation delay is defined as twice the sum of the
signal’s propagation time on the bus line, including the
delays associated with the bus driver. The PropSeg is SYNCHRONIZATION JUMP WIDTH
programmable from 1 – 8 TQ. The Synchronization Jump Width (SJW) adjusts the bit
clock as necessary by 1 – 4 TQ (as configured) to
PHASE SEGMENT 1 (PS1) AND PHASE maintain synchronization with the transmitted
SEGMENT 2 (PS2) message. Synchronization is covered in more detail
The two phase segments, PS1 and PS2, are used to later in this data sheet.
compensate for edge phase errors on the bus. PS1 can
be lengthened (or PS2 shortened) by resyncronization. Time Quantum
PS1 is programmable from 1 – 8 TQ and PS2 is
Each of the segments that make up a bit time are made
programmable from 2 – 8 TQ.
up of integer units called Time Quanta (TQ). The length
SAMPLE POINT of each Time Quantum is based on the oscillator period
(tOSC). The base TQ equals twice the oscillator period.
The sample point is the point in the bit time at which the Figure 5-2 shows how the bit period is derived from
logic level is read and interpreted. The sample point is TOSC and TQ. The TQ length equals one TQ clock
located at the end of PS1. The exception to this rule is period (tBRPCLK), which is programmable using a
if the sample mode is configured to sample three times programmable prescaler, called the Baud Rate
per bit. In this case, while the bit is still sampled at the Prescaler (BRP). This is illustrated in the following
end of PS1, two additional samples are taken at one- equation:
half TQ intervals prior to the end of PS1, with the value
of the bit being determined by a majority decision.
EQUATION 5-2:
INFORMATION PROCESSING TIME
⋅ BRP-
TQ = 2 ⋅ BRP ⋅ T OSC = 2------------------
The Information Processing Time (IPT) is the time F OSC
required for the logic to determine the bit level of a
sampled bit. The IPT begins at the sample point, is Where: BRP equals the configuration as shown in
measured in TQ and is fixed at 2 TQ for the Microchip Register 5-1.
CAN module. Since PS2 also begins at the sample
point and is the last segment in the bit time, it is
required that the PS2 minimum is not less than the IPT.
FIGURE 5-2: TQ AND THE BIT PERIOD
tOSC
TBRPCLK
Sync PropSeg PS1 PS2

tBIT (fixed) (Programmable) (Programmable) (Programmable)
TQ
(tTQ)
CAN Bit Time

MCP2515
5.2 Synchronization 5.2.2.2 No Phase Error (e = 0)
To compensate for phase shifts between the oscillator If the magnitude of the phase error is less than or equal
frequencies of each of the nodes on the bus, each CAN to the programmed value of the SJW, the effect of a
controller must be able to synchronize to the relevant resynchronization is the same as that of a hard
signal edge of the incoming signal. Synchronization is synchronization.
the process by which the DPLL function is
implemented. 5.2.2.3 Positive Phase Error (e > 0)
When an edge in the transmitted data is detected, the If the magnitude of the phase error is larger than the
logic will compare the location of the edge to the SJW and, if the phase error is positive, PS1 is
expected time (SyncSeg). The circuit will then adjust lengthened by an amount equal to the SJW.
the values of PS1 and PS2 as necessary.
5.2.2.4 Negative Phase Error (e < 0)
There are two mechanisms used for synchronization:
If the magnitude of the phase error is larger than the
1. Hard synchronization. resynchronization jump width and the phase error is
2. Resynchronization. negative, PS2 is shortened by an amount equal to the
SJW.
5.2.1 HARD SYNCHRONIZATION
Hard synchronization is only performed when there is a 5.2.3 SYNCHRONIZATION RULES
recessive-to-dominant edge during a BUS IDLE 1. Only recessive-to-dominant edges will be used
condition, indicating the start of a message. After hard for synchronization.
synchronization, the bit time counters are restarted with 2. Only one synchronization within one bit time is
SyncSeg. allowed.
Hard synchronization forces the edge that has 3. An edge will be used for synchronization only if
occurred to lie within the synchronization segment of the value detected at the previous sample point
the restarted bit time. Due to the rules of (previously read bus value) differs from the bus
synchronization, if a hard synchronization occurs, there value immediately after the edge.
will not be a resynchronization within that bit time. 4. A transmitting node will not resynchronize on a
5.2.2 RESYNCHRONIZATION positive phase error (e > 0).
5. If the absolute magnitude of the phase error is
As a result of resynchronization, PS1 may be
greater than the SJW, the appropriate phase
lengthened or PS2 may be shortened. The amount of
segment will adjust by an amount equal to the
lengthening or shortening of the phase buffer segments
SJW.
has an upper-bound, given by the Synchronization
Jump Width (SJW).
The value of the SJW will be added to PS1 or
subtracted from PS2 (see Figure 5-3). The SJW
represents the loop filtering of the DPLL. The SJW is
programmable between 1 TQ and 4 TQ.
5.2.2.1 Phase Errors

The NRZ bit coding method does not encode a clock
into the message. Clocking information will only be
derived from recessive-to-dominant transitions. The
property which states that only a fixed maximum
number of successive bits have the same value (bit-
stuffing) ensures resynchronization to the bit stream
during a frame.
The phase error of an edge is given by the position of
the edge relative to SyncSeg, measured in TQ. The
phase error is defined in magnitude of TQ as follows:
• e = 0 if the edge lies within SYNCSEG.
• e > 0 if the edge lies before the SAMPLE POINT
(TQ is added to PS1).
• e < 0 if the edge lies after the SAMPLE POINT of
the previous bit (TQ is subtracted from PS2).

MCP2515
FIGURE 5-3: SYNCHRONIZING THE BIT TIME
Input Signal (e = 0)
PhaseSeg2 (PS2)
SyncSeg PropSeg PhaseSeg1 (PS1)
SJW (PS2)
SJW (PS1)
Sample
Point
Nominal Bit Time (NBT)

No Resynchronization (e = 0)
Input Signal
(e > 0)
PhaseSeg2 (PS2)
SJW (PS2)
SJW (PS1)
Sample
Point
Actual Bit Time
Resynchronization to a Slower Transmitter (e > 0)
Input Signal (e < 0)
PhaseSeg2 (PS2)
SJW (PS2)
SJW (PS1)
Sample
Point
Actual Bit Time

Resynchronization to a Faster Transmitter (e < 0)

MCP2515
5.3 Programming Time Segments 5.5 Bit Timing Configuration
Some requirements for programming of the time
Registers
segments: The configuration registers (CNF1, CNF2, CNF3)
• PropSeg + PS1 >= PS2 control the bit timing for the CAN bus interface. These
• PropSeg + PS1 >= TDELAY registers can only be modified when the MCP2515 is in
Configuration mode (see Section 10.0 “Modes of
• PS2 > SJW
Operation”).
For example, assuming that a 125 kHz CAN baud rate
with FOSC = 20 MHz is desired: 5.5.1 CNF1
TOSC = 50 ns, choose BRP<5:0> = 04h, then The BRP<5:0> bits control the baud rate prescaler.
TQ = 500 ns. To obtain 125 kHz, the bit time must be These bits set the length of TQ relative to the OSC1
16 TQ. input frequency, with the minimum TQ length being
Typically, the sampling of the bit should take place at 2 TOSC (when BRP<5:0> = ‘b000000’). The
about 60-70% of the bit time, depending on the system SJW<1:0> bits select the SJW in terms of number of
parameters. Also, typically, the TDELAY is 1-2 TQ. TQs.
SyncSeg = 1 TQ and PropSeg = 2 TQ. So setting 5.5.2 CNF2

PS1 = 7 TQ would place the sample at 10 TQ after the
The PRSEG<2:0> bits set the length (in TQ’s) of the
transition. This would leave 6 TQ for PS2.
propagation segment. The PHSEG1<2:0> bits set the
Since PS2 is 6, according to the rules, SJW could be a length (in TQ’s) of PS1.
maximum of 4 TQ. However, a large SJW is typically
The SAM bit controls how many times the RXCAN pin
only necessary when the clock generation of the differ-
is sampled. Setting this bit to a ‘1’ causes the bus to be
ent nodes is inaccurate or unstable, such as using
sampled three times: twice at TQ/2 before the sample
ceramic resonators. So a SJW of 1 is usually enough.
point and once at the normal sample point (which is at
5.4 Oscillator Tolerance the end of PS1). The value of the bus is determined to
be the majority sampled. If the SAM bit is set to a ‘0’,
The bit timing requirements allow ceramic resonators the RXCAN pin is sampled only once at the sample
to be used in applications with transmission rates of up point.
to 125 kbit/sec as a rule of thumb. For the full bus The BTLMODE bit controls how the length of PS2 is
speed range of the CAN protocol, a quartz oscillator is determined. If this bit is set to a ‘1’, the length of PS2 is
required. A maximum node-to-node oscillator variation determined by the PHSEG2<2:0> bits of CNF3 (see
of 1.7% is allowed. Section 5.5.3 “CNF3”). If the BTLMODE bit is set to a
‘0’, the length of PS2 is greater than that of PS1 and the
information processing time (which is fixed at 2 TQ for
the MCP2515).
5.5.3 CNF3
The PHSEG2<2:0> bits set the length (in TQ’s) of PS2,
if the CNF2.BTLMODE bit is set to a ‘1’. If the
BTLMODE bit is set to a ‘0’, the PHSEG2<2:0> bits
have no effect.

MCP2515
REGISTER 5-1: CNF1 - CONFIGURATION 1 (ADDRESS: 2Ah)
SJW1 SJW0 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0
bit 7 bit 0
bit 7-6 SJW: Synchronization Jump Width Length bits <1:0>

11 = Length = 4 x TQ
bit 5-0 BRP: Baud Rate Prescaler bits <5:0>
TQ = 2 x (BRP + 1)/FOSC
Legend:
REGISTER 5-2: CNF2 - CONFIGURATION 1 (ADDRESS: 29h)

BTLMODE SAM PHSEG12 PHSEG11 PHSEG10 PRSEG2 PRSEG1 PRSEG0
bit 7 bit 0
bit 7 BTLMODE: PS2 Bit Time Length bit

1 = Length of PS2 determined by PHSEG22:PHSEG20 bits of CNF3
0 = Length of PS2 is the greater of PS1 and IPT (2 TQ)
bit 6 SAM: Sample Point Configuration bit
1 = Bus line is sampled three times at the sample point
0 = Bus line is sampled once at the sample point
bit 5-3 PHSEG1: PS1 Length bits<2:0>
(PHSEG1 + 1) x TQ
bit 2-0 PRSEG: Propagation Segment Length bits <2:0>
(PRSEG + 1) x TQ
Legend:

MCP2515
REGISTER 5-3: CNF3 - CONFIGURATION 1 (ADDRESS: 28h)
R/W-0 R/W-0 U-0 U-0 U-0 R/W-0 R/W-0 R/W-0
SOF WAKFIL — — — PHSEG22 PHSEG21 PHSEG20
bit 7 bit 0
bit 7 SOF: Start-of-Frame signal bit

If CANCTRL.CLKEN = 1:
1 = CLKOUT pin enabled for SOF signal
0 = CLKOUT pin enabled for clockout function
If CANCTRL.CLKEN = 0, Bit is don’t care.
bit 6 WAKFIL: Wake-up Filter bit
1 = Wake-up filter enabled
0 = Wake-up filter disabled
bit 2-0 PHSEG2: PS2 Length bits<2:0>
(PHSEG2 + 1) x TQ
Note: Minimum valid setting for PS2 is 2 TQ
Legend:

MCP2515
NOTES:

MCP2515
6.0 ERROR DETECTION 6.6 Error States
The CAN protocol provides sophisticated error Detected errors are made known to all other nodes via
detection mechanisms. The following errors can be error frames. The transmission of the erroneous mes-
detected. sage is aborted and the frame is repeated as soon as
possible. Furthermore, each CAN node is in one of the
6.1 CRC Error three error states according to the value of the internal
error counters:
With the Cyclic Redundancy Check (CRC), the
transmitter calculates special check bits for the bit 1. Error-active.
sequence from the start of a frame until the end of the 2. Error-passive.
data field. This CRC sequence is transmitted in the 3. Bus-off (transmitter only).
CRC Field. The receiving node also calculates the
The error-active state is the usual state where the node
CRC sequence using the same formula and performs
can transmit messages and active error frames (made
a comparison to the received sequence. If a mismatch
of dominant bits) without any restrictions.
is detected, a CRC error has occurred and an error
frame is generated. The message is repeated. In the error-passive state, messages and passive error
frames (made of recessive bits) may be transmitted.
6.2 Acknowledge Error The bus-off state makes it temporarily impossible for
In the acknowledge field of a message, the transmitter the station to participate in the bus communication.
checks if the acknowledge slot (which has been sent During this state, messages can neither be received or
out as a recessive bit) contains a dominant bit. If not, no transmitted. Only transmitters can go bus-off.
other node has received the frame correctly. An
acknowledge error has occurred, an error frame is
6.7 Error Modes and Error Counters
generated and the message will have to be repeated. The MCP2515 contains two error counters: the
Receive Error Counter (REC) (see Register 6-2) and
6.3 Form Error the Transmit Error Counter (TEC) (see Register 6-1).
If a node detects a dominant bit in one of the four The values of both counters can be read by the MCU.
segments (including end-of-frame, interframe space, These counters are incremented/decremented in
acknowledge delimiter or CRC delimiter), a form error accordance with the CAN bus specification.
has occurred and an error frame is generated. The The MCP2515 is error-active if both error counters are
message is repeated. below the error-passive limit of 128.
It is error-passive if at least one of the error counters
6.4 Bit Error equals or exceeds 128.
A bit error occurs if a transmitter detects the opposite It goes to bus-off if the TEC exceeds the bus-off limit of
bit level to what it transmitted (i.e., transmitted a 255. The device remains in this state until the bus-off
dominant and detected a recessive, or transmitted a recovery sequence is received. The bus-off recovery
recessive and detected a dominant). sequence consists of 128 occurrences and 11 consec-
Exception: In the case where the transmitter sends a utive recessive bits (see Figure 6-1).
recessive bit and a dominant bit is detected during the
arbitration field and the acknowledge slot, no bit error is Note: The MCP2515, after going bus-off, will
generated because normal arbitration is occurring. recover back to error-active without any
intervention by the MCU if the bus remains
6.5 Stuff Error idle for 128 x 11 bit times. If this is not
desired, the error interrupt service routine
lf, between the start-of-frame and the CRC delimiter, should address this.
six consecutive bits with the same polarity are
The Current Error mode of the MCP2515 can be read
detected, the bit-stuffing rule has been violated. A stuff
by the MCU via the EFLG register (see Register 6-3).
error occurs and an error frame is generated. The
message is repeated. Additionally, there is an error state warning flag bit
(EFLG:EWARN) which is set if at least one of the error
counters equals or exceeds the error warning limit of
96. EWARN is reset if both error counters are less than
the error warning limit.

MCP2515
FIGURE 6-1: ERROR MODES STATE DIAGRAM
RESET
REC < 127 or Error-Active

TEC < 127
128 occurrences of
11 consecutive
REC > 127 or “recessive” bits
TEC > 127
Error-Passive
TEC > 255

Bus-Off
REGISTER 6-1: TEC - TRANSMIT ERROR COUNTER

(ADDRESS: 1Ch)
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
TEC7 TEC6 TEC5 TEC4 TEC3 TEC2 TEC1 TEC0
bit 7 bit 0
bit 7-0 TEC: Transmit Error Count bits <7:0>
Legend:
REGISTER 6-2: REC - RECEIVER ERROR COUNTER

(ADDRESS: 1Dh)
R-0 R-0 R-0 R-0 R-0 R-0 R-0 R-0
REC7 REC6 REC5 REC4 REC3 REC2 REC1 REC0
bit 7 bit 0
bit 7-0 REC: Receive Error Count bits <7:0>
Legend:

MCP2515
REGISTER 6-3: EFLG - ERROR FLAG
(ADDRESS: 2Dh)
R/W-0 R/W-0 R-0 R-0 R-0 R-0 R-0 R-0
RX1OVR RX0OVR TXBO TXEP RXEP TXWAR RXWAR EWARN
bit 7 bit 0
bit 7 RX1OVR: Receive Buffer 1 Overflow Flag bit

- Set when a valid message is received for RXB1 and CANINTF.RX1IF = 1
- Must be reset by MCU
bit 6 RX0OVR: Receive Buffer 0 Overflow Flag bit
- Set when a valid message is received for RXB0 and CANINTF.RX0IF = 1
- Must be reset by MCU
bit 5 TXBO: Bus-Off Error Flag bit
- Bit set when TEC reaches 255
- Reset after a successful bus recovery sequence
bit 4 TXEP: Transmit Error-Passive Flag bit
- Set when TEC is equal to or greater than 128
- Reset when TEC is less than 128
bit 3 RXEP: Receive Error-Passive Flag bit
- Set when REC is equal to or greater than 128
- Reset when REC is less than 128
bit 2 TXWAR: Transmit Error Warning Flag bit
- Set when TEC is equal to or greater than 96
- Reset when TEC is less than 96
bit 1 RXWAR: Receive Error Warning Flag bit
- Set when REC is equal to or greater than 96
- Reset when REC is less than 96
bit 0 EWARN: Error Warning Flag bit
- Set when TEC or REC is equal to or greater than 96 (TXWAR or RXWAR = 1)
- Reset when both REC and TEC are less than 96
Legend:

MCP2515
NOTES:

MCP2515
7.0 INTERRUPTS 7.2 Transmit Interrupt
The MCP2515 has eight sources of interrupts. The When the transmit interrupt is enabled
CANINTE register contains the individual interrupt (CANINTE.TXnIE = 1), an interrupt will be generated on
enable bits for each interrupt source. The CANINTF the INT pin once the associated transmit buffer
register contains the corresponding interrupt flag bit for becomes empty and is ready to be loaded with a new
each interrupt source. When an interrupt occurs, the message. The CANINTF.TXnIF bit will be set to indicate
INT pin is driven low by the MCP2515 and will remain the source of the interrupt. The interrupt is cleared by
low until the interrupt is cleared by the MCU. An clearing the TXnIF bit.
interrupt can not be cleared if the respective condition
still prevails. 7.3 Receive Interrupt
It is recommended that the bit modify command be When the receive interrupt is enabled
used to reset flag bits in the CANINTF register rather (CANINTE.RXnIE = 1), an interrupt will be generated
than normal write operations. This is done to prevent on the INT pin once a message has been successfully
unintentionally changing a flag that changes during the received and loaded into the associated receive buffer.
write command, potentially causing an interrupt to be This interrupt is activated immediately after receiving
missed. the EOF field. The CANINTF.RXnIF bit will be set to
It should be noted that the CANINTF flags are indicate the source of the interrupt. The interrupt is
read/write and an interrupt can be generated by the cleared by clearing the RXnIF bit.
MCU setting any of these bits, provided the associated
CANINTE bit is also set. 7.4 Message Error Interrupt
When an error occurs during the transmission or
7.1 Interrupt Code Bits reception of a message, the message error flag
The source of a pending interrupt is indicated in the (CANINTF.MERRF) will be set and, if the
CANSTAT.ICOD (interrupt code) bits, as indicated in CANINTE.MERRE bit is set, an interrupt will be gener-
Register 10-2. In the event that multiple interrupts ated on the INT pin. This is intended to be used to
occur, the INT will remain low until all interrupts have facilitate baud rate determination when used in
been reset by the MCU. The CANSTAT.ICOD bits will conjunction with Listen-only mode.
reflect the code for the highest priority interrupt that is
currently pending. Interrupts are internally prioritized 7.5 Bus Activity Wakeup Interrupt
such that the lower the ICOD value, the higher the When the MCP2515 is in Sleep mode and the bus activ-
interrupt priority. Once the highest priority interrupt ity wakeup interrupt is enabled (CANINTE.WAKIE = 1),
condition has been cleared, the code for the next an interrupt will be generated on the INT pin and the
highest priority interrupt that is pending (if any) will be CANINTF.WAKIF bit will be set when activity is detected
reflected by the ICOD bits (see Table 7-1). Only those on the CAN bus. This interrupt causes the MCP2515 to
interrupt sources that have their associated CANINTE exit Sleep mode. The interrupt is reset by clearing the
enable bit set will be reflected in the ICOD bits. WAKIF bit.
TABLE 7-1: ICOD<2:0> DECODE Note: The MCP2515 wakes up into Listen-only
mode.
ICOD<2:0> Boolean Expression
000 ERR•WAK•TX0•TX1•TX2•RX0•RX1 7.6 Error Interrupt
001 ERR When the error interrupt is enabled
010 ERR•WAK (CANINTE.ERRIE = 1), an interrupt is generated on
the INT pin if an overflow condition occurs or if the error
011 ERR•WAK•TX0 state of the transmitter or receiver has changed. The
100 ERR•WAK•TX0•TX1 Error Flag (EFLG) register will indicate one of the
following conditions.
101 ERR•WAK•TX0•TX1•TX2
110 ERR•WAK•TX0•TX1•TX2•RX0 7.6.1 RECEIVER OVERFLOW
111 ERR•WAK•TX0•TX1•TX2•RX0•RX1 An overflow condition occurs when the MAB has
Note: ERR is associated with CANINTE,ERRIE. assembled a valid receive message (the message
meets the criteria of the acceptance filters) and the
receive buffer associated with the filter is not available
for loading of a new message. The associated
EFLG.RXnOVR bit will be set to indicate the overflow
condition. This bit must be cleared by the MCU.

MCP2515
7.6.2 RECEIVER WARNING 7.6.6 BUS-OFF
The REC has reached the MCU warning limit of 96. The TEC has exceeded 255 and the device has gone
to bus-off state.
7.6.3 TRANSMITTER WARNING
7.7 Interrupt Acknowledge
The TEC has reached the MCU warning limit of 96.
Interrupts are directly associated with one or more sta-
7.6.4 RECEIVER ERROR-PASSIVE tus flags in the CANINTF register. Interrupts are pend-
The REC has exceeded the error-passive limit of 127 ing as long as one of the flags is set. Once an interrupt
and the device has gone to error-passive state. flag is set by the device, the flag can not be reset by the
MCU until the interrupt condition is removed.
7.6.5 TRANSMITTER ERROR-PASSIVE
The TEC has exceeded the error- passive limit of 127
and the device has gone to error- passive state.
REGISTER 7-1: CANINTE - INTERRUPT ENABLE

(ADDRESS: 2Bh)
MERRE WAKIE ERRIE TX2IE TX1IE TX0IE RX1IE RX0IE
bit 7 bit 0
bit 7 MERRE: Message Error Interrupt Enable bit

1 = Interrupt on error during message reception or transmission
0 = Disabled
bit 6 WAKIE: Wakeup Interrupt Enable bit
1 = Interrupt on CAN bus activity
0 = Disabled
bit 5 ERRIE: Error Interrupt Enable bit (multiple sources in EFLG register)
1 = Interrupt on EFLG error condition change
0 = Disabled
bit 4 TX2IE: Transmit Buffer 2 Empty Interrupt Enable bit
1 = Interrupt on TXB2 becoming empty
0 = Disabled
0 = Disabled
0 = Disabled
bit 1 RX1IE: Receive Buffer 1 Full Interrupt Enable bit
1 = Interrupt when message received in RXB1
0 = Disabled
bit 0 RX0IE: Receive Buffer 0 Full Interrupt Enable bit
1 = Interrupt when message received in RXB0
0 = Disabled
Legend:

MCP2515
REGISTER 7-2: CANINTF - INTERRUPT FLAG
(ADDRESS: 2Ch)
MERRF WAKIF ERRIF TX2IF TX1IF TX0IF RX1IF RX0IF
bit 7 bit 0
bit 7 MERRF: Message Error Interrupt Flag bit

1 = Interrupt pending (must be cleared by MCU to reset interrupt condition)
0 = No interrupt pending
bit 6 WAKIF: Wakeup Interrupt Flag bit
bit 5 ERRIF: Error Interrupt Flag bit (multiple sources in EFLG register)
bit 4 TX2IF: Transmit Buffer 2 Empty Interrupt Flag bit
bit 1 RX1IF: Receive Buffer 1 Full Interrupt Flag bit
bit 0 RX0IF: Receive Buffer 0 Full Interrupt Flag bit
Legend:

MCP2515
NOTES:

MCP2515
8.0 OSCILLATOR 8.2 CLKOUT Pin
The MCP2515 is designed to be operated with a crystal The CLKOUT pin is provided to the system designer for
or ceramic resonator connected to the OSC1 and use as the main system clock or as a clock input for
OSC2 pins. The MCP2515 oscillator design requires other devices in the system. The CLKOUT has an inter-
the use of a parallel cut crystal. Use of a series cut crys- nal prescaler which can divide FOSC by 1, 2, 4 and 8.
tal may give a frequency out of the crystal manufactur- The CLKOUT function is enabled and the prescaler is
ers specifications. A typical oscillator circuit is shown in selected via the CANCNTRL register (see
Figure 8-1. The MCP2515 may also be driven by an Register 10-1).
external clock source connected to the OSC1 pin, as
Note: The maximum frequency on CLKOUT is
shown in Figure 8-2 and Figure 8-3.
specified as 25 MHz (See Table 13-5)
8.1 Oscillator Startup Timer The CLKOUT pin will be active upon system reset and
default to the slowest speed (divide by 8) so that it can
The MCP2515 utilizes an Oscillator Startup Timer be used as the MCU clock.
(OST) that holds the MCP2515 in reset to ensure that
the oscillator has stabilized before the internal state When Sleep mode is requested, the MCP2515 will
machine begins to operate. The OST maintains reset drive sixteen additional clock cycles on the CLKOUT
for the first 128 OSC1 clock cycles after power-up or a pin before entering Sleep mode. The idle state of the
wake-up from Sleep mode occurs. It should be noted CLKOUT pin in Sleep mode is low. When the CLKOUT
that no SPI protocol operations should be attempted function is disabled (CANCNTRL.CLKEN = ‘0’) the
until after the OST has expired. CLKOUT pin is in a high-impedance state.
The CLKOUT function is designed to ensure that
thCLKOUT and tlCLKOUT timings are preserved when the
CLKOUT pin function is enabled, disabled or the
prescaler value is changed.
FIGURE 8-1: CRYSTAL/CERAMIC RESONATOR OPERATION
OSC1
C1 To internal logic
XTAL SLEEP
RF(2)
RS(1)
C2 OSC2
Note 1: A series resistor (RS) may be required for AT strip cut crystals.
2: The feedback resistor (RF ), is typically in the range of 2 to 10 MΩ.
FIGURE 8-2: EXTERNAL CLOCK SOURCE
Clock from
OSC1
external system
(1)
Open OSC2
Note 1: A resistor to ground may be used to reduce system noise. This may increase system current.
2: Duty cycle restrictions must be observed (see Table 12-2).

MCP2515
FIGURE 8-3: EXTERNAL SERIES RESONANT CRYSTAL OSCILLATOR CIRCUIT
330 kΩ 330 kΩ To Other

Devices
74AS04 74AS04 74AS04 MCP2510
OSC1
0.1 mF
XTAL
Note 1: Duty cycle restrictions must be observed (see Table 12-2).

MCP2515
9.0 RESET
The MCP2515 differentiates between two resets:
1. Hardware Reset – Low on RESET pin
2. SPI Reset – Reset via SPI command
Both of these resets are functionally equivalent. It is
important to provide one of these two resets after
power-up to ensure that the logic and registers are in
their default state. A hardware reset can be achieved
automatically by placing an RC on the RESET pin. (see
Figure 9-1). The values must be such that the device is
held in reset for a minimum of 2 µs after VDD reaches
operating voltage, as indicated in the electrical
specification (tRL).
FIGURE 9-1: RESET PIN CONFIGURATION EXAMPLE
VDD VDD
D R
R1
RESET
Note 1: The diode D helps discharge the capacitor quickly when VDD powers down.
2: R1 = 1 kΩ to 10 kΩ will limit any current flowing into RESET from external
capacitor C, in the event of RESET pin breakdown due to Electrostatic Discharge
(ESD) or Electrical Overstress (EOS).

MCP2515
NOTES:

MCP2515
10.0 MODES OF OPERATION When in Sleep mode, the MCP2515 stops its internal
oscillator. The MCP2515 will wake-up when bus activ-
The MCP2515 has five modes of operation. These ity occurs or when the MCU sets, via the SPI interface,
modes are: the CANINTF.WAKIF bit to ‘generate’ a wake-up
1. Configuration mode. attempt (the CANINTE.WAKIE bit must also be set in
2. Normal mode. order for the wake-up interrupt to occur).
3. Sleep mode. The TXCAN pin will remain in the recessive state while
4. Listen-only mode. the MCP2515 is in Sleep mode.
5. Loopback mode. 10.2.1 WAKE-UP FUNCTIONS
The operational mode is selected via the
The device will monitor the RXCAN pin for activity while
CANCTRL. REQOP bits (see Register 10-1).
it is in Sleep mode. If the CANINTE.WAKIE bit is set,
When changing modes, the mode will not actually the device will wake up and generate an interrupt.
change until all pending message transmissions are Since the internal oscillator is shut down while in Sleep
complete. The requested mode must be verified by read- mode, it will take some amount of time for the oscillator
ing the CANSTAT.OPMODE bits (see Register 10-2). to start up and the device to enable itself to receive
messages. This Oscillator Start-up Timer (OST) is
10.1 Configuration Mode defined as 128 TOSC.
The MCP2515 must be initialized before activation. The device will ignore the message that caused the
This is only possible if the device is in the Configuration wake-up from Sleep mode, as well as any messages
mode. Configuration mode is automatically selected that occur while the device is ‘waking up’. The device
after power-up, a reset or can be entered from any will wake up in Listen-only mode. The MCU must set
other mode by setting the CANTRL.REQOP bits to Normal mode before the MCP2515 will be able to
‘100’. When Configuration mode is entered, all error communicate on the bus.
counters are cleared. Configuration mode is the only The device can be programmed to apply a low-pass
mode where the following registers are modifiable: filter function to the RXCAN input line while in internal
• CNF1, CNF2, CNF3 Sleep mode. This feature can be used to prevent the
• TXRTSCTRL device from waking up due to short glitches on the CAN
• Filter registers bus lines. The CNF3.WAKFIL bit enables or disables
the filter.
• Mask registers
10.3 Listen-only Mode
10.2 Sleep Mode
Listen-only mode provides a means for the MCP2515
The MCP2515 has an internal Sleep mode that is used
to receive all messages (including messages with
to minimize the current consumption of the device. The
errors) by configuring the RXBnCTRL.RXM<1:0> bits.
SPI interface remains active for reading even when the
This mode can be used for bus monitor applications or
MCP2515 is in Sleep mode, allowing access to all
for detecting the baud rate in ‘hot plugging’ situations.
registers.
For auto-baud detection, it is necessary that there are
To enter Sleep mode, the mode request bits are set in
at least two other nodes that are communicating with
the CANCTRL register (REQOP<2:0>). The
each other. The baud rate can be detected empirically
CANSTAT.OPMODE bits indicate operation mode.
by testing different values until valid messages are
These bits should be read after sending the sleep
received.
command to the MCP2515. The MCP2515 is active
and has not yet entered Sleep mode until these bits Listen-only mode is a silent mode, meaning no
indicate that Sleep mode has been entered. messages will be transmitted while in this mode
(including error flags or acknowledge signals). The
When in internal Sleep mode, the wake-up interrupt is
filters and masks can be used to allow only particular
still active (if enabled). This is done so that the MCU
messages to be loaded into the receive registers, or the
can also be placed into a Sleep mode and use the
masks can be set to all zeros to allow a message with
MCP2515 to wake it up upon detecting activity on the
any identifier to pass. The error counters are reset and
bus.
deactivated in this state. The Listen-only mode is acti-
vated by setting the mode request bits in the CANCTRL
register.

MCP2515
10.4 Loopback Mode 10.5 Normal Mode
Loopback mode will allow internal transmission of mes- Normal mode is the standard operating mode of the
sages from the transmit buffers to the receive buffers MCP2515. In this mode, the device actively monitors all
without actually transmitting messages on the CAN bus messages and generates acknowledge bits, error
bus. This mode can be used in system development frames, etc. This is also the only mode in which the
and testing. MCP2515 will transmit messages over the CAN bus.
In this mode, the ACK bit is ignored and the device will
allow incoming messages from itself just as if they were
coming from another node. The Loopback mode is a
silent mode, meaning no messages will be transmitted
while in this state (including error flags or acknowledge
signals). The TXCAN pin will be in a recessive state.
The filters and masks can be used to allow only
particular messages to be loaded into the receive
registers. The masks can be set to all zeros to provide
a mode that accepts all messages. The Loopback
mode is activated by setting the mode request bits in
the CANCTRL register.
REGISTER 10-1: CANCTRL - CAN CONTROL REGISTER

(ADDRESS: XFh)
REQOP2 REQOP1 REQOP0 ABAT OSM CLKEN CLKPRE1 CLKPRE0
bit 7 bit 0
bit 7-5 REQOP: Request Operation Mode bits <2:0>

000 = Set Normal Operation mode
001 = Set Sleep mode
010 = Set Loopback mode
011 = Set Listen-only mode
100 = Set Configuration mode
All other values for REQOP bits are invalid and should not be used
Note: On power-up, REQOP = b’111’
bit 4 ABAT: Abort All Pending Transmissions bit
1 = Request abort of all pending transmit buffers
0 = Terminate request to abort all transmissions
bit 3 OSM: One Shot Mode bit
1 = Enabled. Message will only attempt to transmit one time
0 = Disabled. Messages will reattempt transmission, if required
bit 2 CLKEN: CLKOUT Pin Enable bit
1 = CLKOUT pin enabled
0 = CLKOUT pin disabled (Pin is in high-impedance state)
bit 1-0 CLKPRE: CLKOUT Pin Prescaler bits <1:0>
00 = FCLKOUT = System Clock/1
Legend:

MCP2515
REGISTER 10-2: CANSTAT - CAN STATUS REGISTER
(ADDRESS: XEh)
R-1 R-0 R-0 U-0 R-0 R-0 R-0 U-0
OPMOD2 OPMOD1 OPMOD0 — ICOD2 ICOD1 ICOD0 —
bit 7 bit 0
bit 7-5 OPMOD: Operation Mode bits <2:0>

000 = Device is in the Normal operation mode
001 = Device is in Sleep mode
010 = Device is in Loopback mode
011 = Device is in Listen-only mode
100 = Device is in Configuration mode
bit 3-1 ICOD: Interrupt Flag Code bits <2:0>
000 = No Interrupt
001 = Error Interrupt
010 = Wake-up Interrupt
011 = TXB0 Interrupt
110 = RXB0 Interrupt
111 = RXB1 Interrupt
Legend:

MCP2515
NOTES:

MCP2515
11.0 REGISTER MAP reading and writing of data. Some specific control and
status registers allow individual bit modification using
The register map for the MCP2515 is shown in the SPI Bit Modify command. The registers that allow
Table 11-1. Address locations for each register are this command are shown as shaded locations in
determined by using the column (higher-order 4 bits) Table 11-1. A summary of the MCP2515 control regis-
and row (lower-order 4 bits) values. The registers ters is shown in Table 11-2.
have been arranged to optimize the sequential
TABLE 11-1: CAN CONTROLLER REGISTER MAP

Lower Higher-Order Address Bits
Address
Bits x000 xxxx x001 xxxx x010 xxxx x011 xxxx x100 xxxx x101 xxxx x110 xxxx x111 xxxx
0000 RXF0SIDH RXF3SIDH RXM0SIDH TXB0CTRL TXB1CTRL TXB2CTRL RXB0CTRL RXB1CTRL

0001 RXF0SIDL RXF3SIDL RXM0SIDL TXB0SIDH TXB1SIDH TXB2SIDH RXB0SIDH RXB1SIDH
0010 RXF0EID8 RXF3EID8 RXM0EID8 TXB0SIDL TXB1SIDL TXB2SIDL RXB0SIDL RXB1SIDL
0011 RXF0EID0 RXF3EID0 RXM0EID0 TXB0EID8 TXB1EID8 TXB2EID8 RXB0EID8 RXB1EID8
0100 RXF1SIDH RXF4SIDH RXM1SIDH TXB0EID0 TXB1EID0 TXB2EID0 RXB0EID0 RXB1EID0
0101 RXF1SIDL RXF4SIDL RXM1SIDL TXB0DLC TXB1DLC TXB2DLC RXB0DLC RXB1DLC
0110 RXF1EID8 RXF4EID8 RXM1EID8 TXB0D0 TXB1D0 TXB2D0 RXB0D0 RXB1D0
0111 RXF1EID0 RXF4EID0 RXM1EID0 TXB0D1 TXB1D1 TXB2D1 RXB0D1 RXB1D1
1000 RXF2SIDH RXF5SIDH CNF3 TXB0D2 TXB1D2 TXB2D2 RXB0D2 RXB1D2
1001 RXF2SIDL RXF5SIDL CNF2 TXB0D3 TXB1D3 TXB2D3 RXB0D3 RXB1D3
1010 RXF2EID8 RXF5EID8 CNF1 TXB0D4 TXB1D4 TXB2D4 RXB0D4 RXB1D4
1011 RXF2EID0 RXF5EID0 CANINTE TXB0D5 TXB1D5 TXB2D5 RXB0D5 RXB1D5
1100 BFPCTRL TEC CANINTF TXB0D6 TXB1D6 TXB2D6 RXB0D6 RXB1D6
1101 TXRTSCTRL REC EFLG TXB0D7 TXB1D7 TXB2D7 RXB0D7 RXB1D7
1110 CANSTAT CANSTAT CANSTAT CANSTAT CANSTAT CANSTAT CANSTAT CANSTAT
1111 CANCTRL CANCTRL CANCTRL CANCTRL CANCTRL CANCTRL CANCTRL CANCTRL
Note: Shaded register locations indicate that these allow the user to manipulate individual bits using the Bit Modify Command.
TABLE 11-2: CONTROL REGISTER SUMMARY

Register Address POR/RST
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Name (Hex) Value
BFPCTRL 0C — — B1BFS B0BFS B1BFE B0BFE B1BFM B0BFM --00 0000
TXRTSCTRL 0D — — B2RTS B1RTS B0RTS B2RTSM B1RTSM B0RTSM --xx x000
CANSTAT xE OPMOD2 OPMOD1 OPMOD0 — ICOD2 ICOD1 ICOD0 — 100- 000-
CANCTRL xF REQOP2 REQOP1 REQOP0 ABAT OSM CLKEN CLKPRE1 CLKPRE0 1110 0111
TEC 1C Transmit Error Counter (TEC) 0000 0000
REC 1D Receive Error Counter (REC) 0000 0000
CNF3 28 SOF WAKFIL — — — PHSEG22 PHSEG21 PHSEG20 00-- -000
CNF2 29 BTLMODE SAM PHSEG12 PHSEG11 PHSEG10 PRSEG2 PRSEG1 PRSEG0 0000 0000
CNF1 2A SJW1 SJW0 BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 0000 0000
CANINTE 2B MERRE WAKIE ERRIE TX2IE TX1IE TX0IE RX1IE RX0IE 0000 0000
CANINTF 2C MERRF WAKIF ERRIF TX2IF TX1IF TX0IF RX1IF RX0IF 0000 0000
EFLG 2D RX1OVR RX0OVR TXBO TXEP RXEP TXWAR RXWAR EWARN 0000 0000
TXB0CTRL 30 — ABTF MLOA TXERR TXREQ — TXP1 TXP0 -000 0-00
RXB0CTRL 60 — RXM1 RXM0 — RXRTR BUKT BUKT FILHIT0 -00- 0000
RXB1CTRL 70 — RSM1 RXM0 — RXRTR FILHIT2 FILHIT1 FILHIT0 -00- 0000

MCP2515
NOTES:

MCP2515
12.0 SPI INTERFACE the Read instruction (i.e., sequential reads are
possible). This instruction further reduces the SPI
12.1 Overview overhead by automatically clearing the associated
receive flag (CANINTF.RXnIF) when CS is raised at the
The MCP2515 is designed to interface directly with the end of the command.
Serial Peripheral Interface (SPI) port available on many
microcontrollers and supports Mode 0,0 and Mode 1,1. 12.5 Write Instruction
Commands and data are sent to the device via the SI
pin, with data being clocked in on the rising edge of The Write instruction is started by lowering the CS pin.
SCK. Data is driven out by the MCP2515 (on the SO The Write instruction is then sent to the MCP2515
line) on the falling edge of SCK. The CS pin must be followed by the address and at least one byte of data.
held low while any operation is performed. Table 12-1 It is possible to write to sequential registers by
shows the instruction bytes for all operations. Refer to continuing to clock in data bytes, as long as CS is held
Figure 12-10 and Figure 12-11 for detailed input and low. Data will actually be written to the register on the
output timing diagrams for both Mode 0,0 and Mode 1,1 rising edge of the SCK line for the D0 bit. If the CS line
operation. is brought high before eight bits are loaded, the write
will be aborted for that data byte and previous bytes in
Note: The MCP2515 expects the first byte after
the command will have been written. Refer to the timing
lowering CS to be the instruction/
diagram in Figure 12-4 for a more detailed illustration of
command byte. This implies that CS must
the byte write sequence.
be raised and then lowered again to
invoke another command.
12.6 Load TX Buffer Instruction
12.2 Reset Instruction The Load TX Buffer instruction (Figure 12-5) eliminates
the eight-bit address required by a normal write
The Reset instruction can be used to re-initialize the
command. The eight-bit instruction sets the address
internal registers of the MCP2515 and set Configuration
pointer to one of six addresses to quickly write to a
mode. This command provides the same functionality,
transmit buffer that points to the “ID” or “data” address
via the SPI interface, as the RESET pin.
of any of the three transmit buffers.
The Reset instruction is a single-byte instruction that
requires selecting the device by pulling CS low, 12.7 Request-To-Send (RTS)
sending the instruction byte and then raising CS. It is Instruction
highly recommended that the reset command be sent
(or the RESET pin be lowered) as part of the power-on The RTS command can be used to initiate message
initialization sequence. transmission for one or more of the transmit buffers.
The MCP2515 is selected by lowering the CS pin. The
12.3 Read Instruction RTS command byte is then sent. Shown in Figure 12-6,
The Read instruction is started by lowering the CS pin. the last 3 bits of this command indicate which transmit
The Read instruction is then sent to the MCP2515 buffer(s) are enabled to send.
followed by the 8-bit address (A7 through A0). Next, the This command will set the TxBnCTRL.TXREQ bit for
data stored in the register at the selected address will the respective buffer(s). Any or all of the last three bits
be shifted out on the SO pin. can be set in a single command. If the RTS command
The internal address pointer is automatically is sent with nnn = 000, the command will be ignored.
incremented to the next address once each byte of
data is shifted out. Therefore, it is possible to read the
12.8 Read Status Instruction
next consecutive register address by continuing to pro- The Read Status instruction allows single instruction
vide clock pulses. Any number of consecutive register access to some of the often used status bits for
locations can be read sequentially using this method. message reception and transmission.
The read operation is terminated by raising the CS pin
The MCP2515 is selected by lowering the CS pin and
(Figure 12-2).
the read status command byte, shown in Figure 12-8,
12.4 Read RX Buffer Instruction is sent to the MCP2515. Once the command byte is
sent, the MCP2515 will return eight bits of data that
The Read RX Buffer instruction (Figure 12-3) provides contain the status.
a means to quickly address a receive buffer for reading. If additional clocks are sent after the first eight bits are
This instruction reduces the SPI overhead by one byte, transmitted, the MCP2515 will continue to output the
the address byte. The command byte actually has four status bits as long as the CS pin is held low and clocks
possible values that determine the address pointer are provided on SCK.
location. Once the command byte is sent, the controller
clocks out the data at the address location the same as

MCP2515
Each status bit returned in this command may also be The part is selected by lowering the CS pin and the Bit
read by using the standard read command with the Modify command byte is then sent to the MCP2515.
appropriate register address. The command is followed by the address of the
register, the mask byte and finally the data byte.
12.9 RX Status Instruction The mask byte determines which bits in the register will
The RX Status instruction (Figure 12-9) is used to be allowed to change. A ‘1’ in the mask byte will allow
quickly determine which filter matched the message a bit in the register to change, while a ‘0’ will not.
and message type (standard, extended, remote). After The data byte determines what value the modified bits
the command byte is sent, the controller will return in the register will be changed to. A ‘1’ in the data byte
8 bits of data that contain the status data. If more will set the bit and a ‘0’ will clear the bit, provided that
clocks are sent after the 8 bits are transmitted, the the mask for that bit is set to a ‘1’ (see Figure 12-7).
controller will continue to output the same status bits as
long as the CS pin stays low and clocks are provided. FIGURE 12-1: BIT MODIFY
12.10 Bit Modify Instruction Mask byte 0 0 1 1 0 1 0 1
The Bit Modify instruction provides a means for setting

or clearing individual bits in specific status and control
registers. This command is not available for all Data byte X X 1 0 X 0 X 1
registers. See Section 11.0 “Register Map” to
determine which registers allow the use of this Previous
command. Register 0 1 0 1 0 0 0 1
Contents
Note: Executing the Bit Modify command on
registers that are not bit-modifiable will Resulting
Register 0 1 1 0 0 0 0 1
force the mask to FFh. This will allow byte-
writes to the registers, not bit modify. Contents
TABLE 12-1: SPI™ INSTRUCTION SET

Instruction Name Instruction Format Description
RESET 1100 0000 Resets internal registers to default state, set Configuration mode.
READ 0000 0011 Read data from register beginning at selected address.
Read RX Buffer 1001 0nm0 When reading a receive buffer, reduces the overhead of a normal
read command by placing the address pointer at one of four
locations, as indicated by ‘n,m’. Note: The associated RX flag bit
(CANINTF.RXnIF) will be cleared after bringing CS high.
WRITE 0000 0010 Write data to register beginning at selected address.
Load TX Buffer 0100 0abc When loading a transmit buffer, reduces the overhead of a normal
Write command by placing the address pointer at one of six
locations as indicated by ‘a,b,c’.
RTS 1000 0nnn Instructs controller to begin message transmission sequence for
(Message any of the transmit buffers.
Request-To-Send)
1000 0nnn
Request-to-send for TXB2 Request-to-send for TXBO
Request-to-send for TXB1
Read Status 1010 0000 Quick polling command that reads several status bits for transmit
and receive functions.
RX Status 1011 0000 Quick polling command that indicates filter match and message
type (standard, extended and/or remote) of received message.
Bit Modify 0000 0101 Allows the user to set or clear individual bits in a particular regis-
ter. Note: Not all registers can be bit-modified with this command.
Executing this command on registers that are not bit-modifiable
will force the mask to FFh. See the register map in Section 11.0
“Register Map” for a list of the registers that apply.

MCP2515
FIGURE 12-2: READ INSTRUCTION
CS
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
SCK
instruction address byte
SI 0 0 0 0 0 0 1 1 A7 6 5 4 3 2 1 A0 don’t care
data out
high-impedance
SO 7 6 5 4 3 2 1 0
FIGURE 12-3: READ RX BUFFER INSTRUCTION
CS
n m Address Points to Address
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 0 Receive Buffer 0, 0x61

SCK Start at RXB0SIDH
0 1 Receive Buffer 0, 0x66
instruction Start at RXB0D0
SI 1 0 0 1 0 n m 0 don’t care 1 0 Receive Buffer 1, 0x71
Start at RXB1SIDH
data out 1 1 Receive Buffer 1, 0x76
high-impedance
SO 7 6 5 4 3 2 1 0 Start at RXB1D0
FIGURE 12-4: BYTE WRITE INSTRUCTION
CS
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
SCK
instruction address byte data byte
SI 0 0 0 0 0 0 1 0 A7 6 5 4 3 2 1 A0 7 6 5 4 3 2 1 0
high-impedance
SO

MCP2515
FIGURE 12-5: LOAD TX BUFFER
a b c Address Points to Addr

CS 0 0 0 TX buffer 0, Start at 0x31
TXB0SIDH
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 0 1 TX buffer 0, Start at 0x36
SCK TXB0D0
0 1 0 TX buffer 1, Start at 0x41
instruction data in TXB1SIDH
SI 0 1 0 0 0 a b c 7 6 5 4 3 2 1 0
TXB1D0
high-impedance TXB2SIDH
SO
TXB2D0
FIGURE 12-6: REQUEST-TO-SEND (RTS) INSTRUCTION
CS
0 1 2 3 4 5 6 7
SCK
instruction
SI 1 0 0 0 0 T2 T1 T0
high-impedance
SO
FIGURE 12-7: BIT MODIFY INSTRUCTION
CS
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
SCK
instruction address byte mask byte data byte
SI 0 0 0 0 0 1 0 1 A7 6 5 4 3 2 1 A0 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
high-impedance
SO
Note: Not all registers can be accessed with

this command. See the register map for a
list of the registers that apply.

MCP2515
FIGURE 12-8: READ STATUS INSTRUCTION
CS
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
SCK
instruction
SI 1 0 1 0 0 0 0 0 don’t care
repeat
data out data out
high-impedance
SO 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
CANINTF.RX0IF
CANINTFL.RX1IF
TXB0CNTRL.TXREQ
CANINTF.TX0IF
TXB1CNTRL.TXREQ
CANINTF.TX1IF
TXB2CNTRL.TXREQ
CANINTF.TX2IF
FIGURE 12-9: RX STATUS INSTRUCTION
CS
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
SCK
instruction
SI 1 0 1 1 0 0 0 0 don’t care
repeat
data out data out
high-impedance
SO 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0
7 6 Received Message 4 3 Msg Type Received 2 1 0 Filter Match

0 0 No RX message 0 0 Standard data frame 0 0 0 RXF0
0 1 Message in RXB0 0 1 Standard remote frame 0 0 1 RXF1
1 0 Message in RXB1 1 0 Extended data frame 0 1 0 RXF2
1 1 Messages in both buffers* 1 1 Extended remote frame 0 1 1 RXF3
CANINTF.RXnIF bits are mapped to The extended ID bit is mapped to 1 0 0 RXF4
bits 7 and 6. bit 4. The RTR bit is mapped to 1 0 1 RXF5
bit 3.
1 1 0 RXF0 (rollover to RXB1)
* Buffer 0 has higher priority, therefore, RXB0 status is 1 1 1 RXF1 (rollover to RXB1)
reflected in bits 4:0.

MCP2515
FIGURE 12-10: SPI™ INPUT TIMING
3
CS
11
1 6 10
Mode 1,1 7 2
SCK Mode 0,0
4 5
SI
MSB in LSB in
SO high-impedance
FIGURE 12-11: SPI™ OUTPUT TIMING
CS
2
8 9
SCK Mode 1,1
Mode 0,0
12
14
13
SO MSB out LSB out
don’t care
SI

MCP2515
13.0 ELECTRICAL CHARACTERISTICS
13.1 Absolute Maximum Ratings †
VDD.............................................................................................................................................................................7.0V
All inputs and outputs w.r.t. VSS ..........................................................................................................-0.6V to VDD +1.0V
Storage temperature ...............................................................................................................................-65°C to +150°C
Ambient temp. with power applied ..........................................................................................................-65°C to +125°C
Soldering temperature of leads (10 seconds) ....................................................................................................... +300°C
† Notice: Stresses above those listed under “Maximum Ratings” may cause permanent damage to the device. This
is a stress rating only and functional operation of the device at those or any other conditions above those indicated in
the operational listings of this specification is not implied. Exposure to maximum rating conditions for extended periods
may affect device reliability.

MCP2515
TABLE 13-1: DC CHARACTERISTICS
Industrial (I): TAMB = -40°C to +85°C VDD = 2.7V to 5.5V
DC Characteristics
Extended (E): TAMB = -40°C to +125°C VDD = 4.5V to 5.5V
Param.
No. Sym Characteristic Min Max Units Conditions
VDD Supply Voltage 2.7 5.5 V
VRET Register Retention Voltage 2.4 — V
High-Level Input Voltage
VIH RXCAN 2 VDD + 1 V
SCK, CS, SI, TXnRTS Pins 0.7 VDD VDD + 1 V
OSC1 0.85 VDD VDD V
RESET 0.85 VDD VDD V
Low-Level Input Voltage
VIL RXCAN, TXnRTS Pins -0.3 .15 VDD V
SCK, CS, SI -0.3 0.4 V
OSC1 VSS .3 VDD V
RESET VSS .15 VDD V
Low-Level Output Voltage
VOL TXCAN — 0.6 V IOL = +6.0 mA, VDD = 4.5V
RXnBF Pins — 0.6 V IOL = +8.5 mA, VDD = 4.5V
SO, CLKOUT — 0.6 V IOL = +2.1 mA, VDD = 4.5V
INT — 0.6 V IOL = +1.6 mA, VDD = 4.5V
High-Level Output Voltage V
VOH TXCAN, RXnBF Pins VDD – 0.7 — V IOH = -3.0 mA, VDD = 4.5V
SO, CLKOUT VDD – 0.5 — V IOH = -400 µA, VDD = 4.5V
INT VDD – 0.7 — V IOH = -1.0 mA, VDD = 4.5V
Input Leakage Current
ILI All I/O except OSC1 and -1 +1 µA CS = RESET = VDD,

TXnRTS pins VIN = VSS to VDD
OSC1 Pin -5 +5 µA
CINT Internal Capacitance — 7 pF TAMB = 25°C, fC = 1.0 MHz,

(All Inputs and Outputs) VDD = 0V (Note 1)
IDD Operating Current — 10 mA VDD = 5.5V, FOSC = 25 MHz,

FCLK = 1 MHz, SO = Open
IDDS Standby Current (Sleep mode) — 5 µA CS, TXnRTS = VDD, Inputs tied to
VDD or VSS, -40°C TO +85°C
— 8 µA CS, TXnRTS = VDD, Inputs tied to

VDD or VSS, -40°C TO +125°C
Note 1: This parameter is periodically sampled and not 100% tested.

MCP2515
TABLE 13-2: OSCILLATOR TIMING CHARACTERISTICS
Oscillator Timing Characteristics
Param. Sym Characteristic Min Max Units Conditions
No.
FOSC Clock-In Frequency 1 40 MHz 4.5V to 5.5V

1 25 MHz 2.7V to 5.5V
TOSC Clock-In Period 25 1000 ns 4.5V to 5.5V
40 1000 ns 2.7V to 5.5V
TDUTY Duty Cycle 0.45 0.55 — TOSH/(TOSH + TOSL)
(External Clock Input)
Note: This parameter is periodically sampled and not 100% tested.
TABLE 13-3: CAN INTERFACE AC CHARACTERISTICS

CAN Interface AC Characteristics
No.
TWF Wake-up Noise Filter 100 — ns
TABLE 13-4: RESET AC CHARACTERISTICS

RESET AC Characteristics
No.
trl RESET Pin Low Time 2 — µs

MCP2515
TABLE 13-5: CLKOUT PIN AC CHARACTERISTICS
CLKOUT Pin AC/DC Characteristics
No.
thCLKOUT CLKOUT Pin High Time 15 — ns TOSC = 40 ns (Note 1)

tlCLKOUT CLKOUT Pin Low Time 15 — ns TOSC = 40 ns (Note 1)
trCLKOUT CLKOUT Pin Rise Time — 5 ns Measured from 0.3 VDD to 0.7 VDD
(Note)
tfCLKOUT CLKOUT Pin Fall Time — 5 ns Measured from 0.7 VDD to 0.3 VDD
(Note 1)
tdCLKOUT CLOCKOUT Propagation Delay — 100 ns
15 thSOF Start-Of-Frame High Time — 2 TOSC ns Note 1
16 tdSOF Start-Of-Frame Propagation — 2 TOSC + ns Measured from CAN bit sample
Delay 0.5 TQ point. Device is a receiver.
CNF1.BRP<5:0> = 0 (Note 2)
Note 1: CLKOUT prescaler set to divide by one. This parameter is periodically sampled and not 100% tested.
2: Design guidance only, not tested.
FIGURE 13-1: START-OF-FRAME PIN AC CHARACTERISTICS
16
RXCAN sample point
15

MCP2515
TABLE 13-6: SPI™ INTERFACE AC CHARACTERISTICS
SPI™ Interface AC Characteristics
Param.
Sym Characteristic Min Max Units Conditions
No.
FCLK Clock Frequency — 10 MHz
1 TCSS CS Setup Time 50 — ns
2 TCSH CS Hold Time 50 — ns
3 TCSD CS Disable Time 50 — ns
4 TSU Data Setup Time 10 — ns
5 THD Data Hold Time 10 — ns
6 TR CLK Rise Time — 2 µs Note 1
7 TF CLK Fall Time — 2 µs Note 1
8 THI Clock High Time 45 — ns
9 TLO Clock Low Time 45 — ns

ns
10 TCLD Clock Delay Time 50 — ns
11 TCLE Clock Enable Time 50 — ns
12 TV Output Valid from Clock Low — 45 ns
13 THO Output Hold Time 0 — ns
14 TDIS Output Disable Time — 100 ns
Note 1: This parameter is not 100% tested.

MCP2515
NOTES:

MCP2515
14.0 PACKAGING INFORMATION
14.1 Package Marking Information
18-Lead PDIP (300 mil) Example:
XXXXXXXXXXXXXXXXX MCP2515-I/P
XXXXXXXXXXXXXXXXX
YYWWNNN 0434256
18-Lead SOIC (300 mil) Example:
XXXXXXXXXXXX MCP2515-E/SO
XXXXXXXXXXXX
XXXXXXXXXXXX
YYWWNNN 0434256
20-Lead TSSOP (4.4 mm) Example:
XXXXXXXX MCP2515
XXXXXNNN I/ST256
YYWW 0434
Legend: XX...X Customer specific information*

Y Year code (last digit of calendar year)
YY Year code (last 2 digits of calendar year)
WW Week code (week of January 1 is week ‘01’)
NNN Alphanumeric traceability code
Note: In the event the full Microchip part number cannot be marked on one line, it will
be carried over to the next line thus limiting the number of available characters
for customer specific information.
* Standard device marking consists of Microchip part number, year code, week code, and traceability
code..

MCP2515
18-Lead Plastic Dual In-line (P) – 300 mil (PDIP)
E1
n 1 α
E A2
c L
A1
B1
β
B p
eB
Units INCHES* MILLIMETERS

Dimension Limits MIN NOM MAX MIN NOM MAX
Number of Pins n 18 18
Pitch p .100 2.54
Top to Seating Plane A .140 .155 .170 3.56 3.94 4.32
Molded Package Thickness A2 .115 .130 .145 2.92 3.30 3.68
Base to Seating Plane A1 .015 0.38
Shoulder to Shoulder Width E .300 .313 .325 7.62 7.94 8.26
Molded Package Width E1 .240 .250 .260 6.10 6.35 6.60
Overall Length D .890 .898 .905 22.61 22.80 22.99
Tip to Seating Plane L .125 .130 .135 3.18 3.30 3.43
Lead Thickness c .008 .012 .015 0.20 0.29 0.38
Upper Lead Width B1 .045 .058 .070 1.14 1.46 1.78
Lower Lead Width B .014 .018 .022 0.36 0.46 0.56
Overall Row Spacing § eB .310 .370 .430 7.87 9.40 10.92
Mold Draft Angle Top α 5 10 15 5 10 15
Mold Draft Angle Bottom β 5 10 15 5 10 15
* Controlling Parameter
§ Significant Characteristic
Notes:
Dimensions D and E1 do not include mold flash or protrusions. Mold flash or protrusions shall not exceed
.010” (0.254mm) per side.
JEDEC Equivalent: MS-001
Drawing No. C04-007

MCP2515
18-Lead Plastic Small Outline (SO) – Wide, 300 mil (SOIC)
E
p
E1
2
B n 1
h
α
45°
c
A A2
φ
β L A1
Units INCHES* MILLIMETERS

Pitch p .050 1.27
Overall Height A .093 .099 .104 2.36 2.50 2.64
Standoff § A1 .004 .008 .012 0.10 0.20 0.30
Overall Width E .394 .407 .420 10.01 10.34 10.67
Overall Length D .446 .454 .462 11.33 11.53 11.73
Chamfer Distance h .010 .020 .029 0.25 0.50 0.74
Foot Length L .016 .033 .050 0.41 0.84 1.27
Foot Angle φ 0 4 8 0 4 8
Lead Thickness c .009 .011 .012 0.23 0.27 0.30
Lead Width B .014 .017 .020 0.36 0.42 0.51
Notes:
.010” (0.254mm) per side.
JEDEC Equivalent: MS-013
Drawing No. C04-051

MCP2515
20-Lead Plastic Thin Shrink Small Outline (ST) – 4.4 mm (TSSOP)
p E1
D
B
2
n 1
α
A
φ
A2
β
L A1
Units INCHES MILLIMETERS*

Pitch p .026 0.65
Overall Height A .043 1.10
Standoff § A1 .002 .004 .006 0.05 0.10 0.15
Overall Width E .246 .251 .256 6.25 6.38 6.50
Molded Package Length D .252 .256 .260 6.40 6.50 6.60
Foot Length L .020 .024 .028 0.50 0.60 0.70
Foot Angle φ 0 4 8 0 4 8
Lead Thickness c .004 .006 .008 0.09 0.15 0.20
Lead Width B .007 .010 .012 0.19 0.25 0.30
Notes:
.005” (0.127mm) per side.
JEDEC Equivalent: MO-153
Drawing No. C04-088

MCP2515
APPENDIX A: REVISION HISTORY
Revision A (May 2003)

Original data sheet release.
Revision B (Sept 2003)

The following is the list of modifications:
1. Front page bullet: Standby current (typical)
(Sleep Mode) changed from 10 µA to 1 µA
2. Section 8.2 CLKOUT Pin: Added notebox for
maximum frequency on CLKOUT.
3. Section 12.0, Table 12-1:
- Changed supply voltage minimum to 2.7V.
- Internal Capacitance: Changed VDD condition
to 0V.
- Standby Current (Sleep mode): Split
specification into -40°C to +85°C and
-40°C to +125°C.
Revision C (November 2004)

The following is the list of modifications:
1. New section 9.0 added.
2. Section 12, Heading 12.1: added notebox.
Heading 12.6: Changed verbiage within
paragraph.
3. Added Appendix A: Revision History.

MCP2515
Notes:

MCP2515
PRODUCT IDENTIFICATION SYSTEM
To order or obtain information, e.g., on pricing or delivery, refer to the factory or the listed sales office.
PART NO. – X /XX Examples:

a) MCP2515-E/P: Extended temperature,
Device Temperature Package PDIP package.
Range
b) MCP2515-I/P: Industrial temperature,
PDIP package.
Device MCP2515: CAN Controller w/ SPI™ Interface c) MCP2515-E/SO: Extended temperature,
MCP2515T: CAN Controller w/SPI Interface SOIC package.
(Tape and Reel) d) MCP2515-I/SO: Industrial temperature,
SOIC package.
e) MCP2515T-I/SO: Tape and Reel, Industrial
Temperature I = -40°C to +85°C (Industrial) temperature, SOIC
Range E = -40°C to +125°C (Extended) package.
f) MCP2515-I/ST: Industrial temperature,
Package P = Plastic DIP (300 mil Body), 18-Lead TSSOP package.
SO = Plastic SOIC (300 mil Body), 18-Lead g) MCP2515T-I/ST: Tape and Reel, Industrial
ST = TSSOP, (4.4 mm Body), 20-Lead temperature, TSSOP
package.
Sales and Support

Data Sheets
Products supported by a preliminary Data Sheet may have an errata sheet describing minor operational differences and
recommended workarounds. To determine if an errata sheet exists for a particular device, please contact one of the following:
1. Your local Microchip sales office

2. The Microchip Worldwide Site (www.microchip.com)
Please specify which device, revision of silicon and Data Sheet (include Literature #) you are using.
Customer Notification System

Register on our web site (www.microchip.com) to receive the most current information on our products.

MCP2515
NOTES:

Note the following details of the code protection feature on Microchip devices:
• Microchip products meet the specification contained in their particular Microchip Data Sheet.
• Microchip believes that its family of products is one of the most secure families of its kind on the market today, when used in the
intended manner and under normal conditions.
• There are dishonest and possibly illegal methods used to breach the code protection feature. All of these methods, to our
knowledge, require using the Microchip products in a manner outside the operating specifications contained in Microchip’s Data
Sheets. Most likely, the person doing so is engaged in theft of intellectual property.
• Microchip is willing to work with the customer who is concerned about the integrity of their code.
• Neither Microchip nor any other semiconductor manufacturer can guarantee the security of their code. Code protection does not
mean that we are guaranteeing the product as “unbreakable.”
Code protection is constantly evolving. We at Microchip are committed to continuously improving the code protection features of our
products. Attempts to break Microchip’s code protection feature may be a violation of the Digital Millennium Copyright Act. If such acts
allow unauthorized access to your software or other copyrighted work, you may have a right to sue for relief under that Act.
Information contained in this publication regarding device Trademarks

applications and the like is provided only for your convenience The Microchip name and logo, the Microchip logo, Accuron,
and may be superseded by updates. It is your responsibility to dsPIC, KEELOQ, microID, MPLAB, PIC, PICmicro, PICSTART,
ensure that your application meets with your specifications.
PRO MATE, PowerSmart, rfPIC, and SmartShunt are
MICROCHIP MAKES NO REPRESENTATIONS OR WAR-
registered trademarks of Microchip Technology Incorporated
RANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED,
in the U.S.A. and other countries.
WRITTEN OR ORAL, STATUTORY OR OTHERWISE,
RELATED TO THE INFORMATION, INCLUDING BUT NOT AmpLab, FilterLab, MXDEV, MXLAB, PICMASTER, SEEVAL,
LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, SmartSensor and The Embedded Control Solutions Company
MERCHANTABILITY OR FITNESS FOR PURPOSE. are registered trademarks of Microchip Technology
Microchip disclaims all liability arising from this information and Incorporated in the U.S.A.
its use. Use of Microchip’s products as critical components in Analog-for-the-Digital Age, Application Maestro, dsPICDEM,
life support systems is not authorized except with express dsPICDEM.net, dsPICworks, ECAN, ECONOMONITOR,
written approval by Microchip. No licenses are conveyed, FanSense, FlexROM, fuzzyLAB, In-Circuit Serial
implicitly or otherwise, under any Microchip intellectual property Programming, ICSP, ICEPIC, Migratable Memory, MPASM,
rights. MPLIB, MPLINK, MPSIM, PICkit, PICDEM, PICDEM.net,
PICLAB, PICtail, PowerCal, PowerInfo, PowerMate,
PowerTool, rfLAB, rfPICDEM, Select Mode, Smart Serial,
SmartTel and Total Endurance are trademarks of Microchip
Technology Incorporated in the U.S.A. and other countries.
SQTP is a service mark of Microchip Technology Incorporated
in the U.S.A.
All other trademarks mentioned herein are property of their
respective companies.
© 2004, Microchip Technology Incorporated, Printed in the
U.S.A., All Rights Reserved.
Printed on recycled paper.
Microchip received ISO/TS-16949:2002 quality system certification for

its worldwide headquarters, design and wafer fabrication facilities in
Chandler and Tempe, Arizona and Mountain View, California in
October 2003. The Company’s quality system processes and
procedures are for its PICmicro® 8-bit MCUs, KEELOQ® code hopping
devices, Serial EEPROMs, microperipherals, nonvolatile memory and
analog products. In addition, Microchip’s quality system for the design
and manufacture of development systems is ISO 9001:2000 certified.

WORLDWIDE SALES AND SERVICE
AMERICAS ASIA/PACIFIC ASIA/PACIFIC EUROPE
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10/20/04

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MCP2515

Stand-Alone CAN Controller With SPI™ Interface

transmit buffer TX1RTS 5 16 SI

 2004 Microchip Technology Inc. Preliminary DS21801C-page 1

DS21801C-page 2 Preliminary  2004 Microchip Technology Inc.

FIGURE 1-1: BLOCK DIAGRAM

 2004 Microchip Technology Inc. Preliminary DS21801C-page 3

Node Node Node

SPI™ SPI SPI

MCP2515 MCP2515 MCP2515

XCVR XCVR XCVR

TABLE 1-1: PINOUT DESCRIPTION

TXCAN 1 1 O Transmit output pin to CAN bus —

DS21801C-page 4 Preliminary  2004 Microchip Technology Inc.

FIGURE 1-3: CAN BUFFERS AND PROTOCOL ENGINE BLOCK DIAGRAM

BUFFERS Acceptance Mask

PROTOCOL Receive REC

 2004 Microchip Technology Inc. Preliminary DS21801C-page 5

FIGURE 1-4: CAN PROTOCOL ENGINE BLOCK DIAGRAM

DS21801C-page 6 Preliminary  2004 Microchip Technology Inc.

 2004 Microchip Technology Inc. Preliminary DS21801C-page 7

DS21801C-page 8 Preliminary  2004 Microchip Technology Inc.

 2004 Microchip Technology Inc.

Data Frame (number of bits = 64 + 8N)

 2004 Microchip Technology Inc.

 2004 Microchip Technology Inc.

Arbitration Field Control CRC Field

Remote Frame with Extended Identifier

Interrupted Data Frame

 2004 Microchip Technology Inc.

 2004 Microchip Technology Inc.

DS21801C-page 14 Preliminary  2004 Microchip Technology Inc.

 2004 Microchip Technology Inc. Preliminary DS21801C-page 15

DS21801C-page 16 Preliminary  2004 Microchip Technology Inc.

Clearing the TxBnCTRL.TXREQ bit

Examine TXBnCTRL.TXP <1:0> to

 2004 Microchip Technology Inc. Preliminary DS21801C-page 17

bit 7 Unimplemented: Read as ‘0’

DS21801C-page 18 Preliminary  2004 Microchip Technology Inc.

bit 7 Unimplemented: Read as ‘0’

REGISTER 3-3: TXBnSIDH - TRANSMIT BUFFER n STANDARD IDENTIFIER HIGH

bit 7-0 SID: Standard Identifier bits <10:3>

 2004 Microchip Technology Inc. Preliminary DS21801C-page 19

bit 7-5 SID: Standard Identifier bits <2:0>

REGISTER 3-5: TXBnEID8 - TRANSMIT BUFFER n EXTENDED IDENTIFIER HIGH

bit 7-0 EID: Extended Identifier bits <15:8>

REGISTER 3-6: TXBnEID0 - TRANSMIT BUFFER n EXTENDED IDENTIFIER LOW

bit 7-0 EID: Extended Identifier bits <7:0>

DS21801C-page 20 Preliminary  2004 Microchip Technology Inc.

bit 7 Unimplemented: Reads as ‘0’

REGISTER 3-8: TXBnDm - TRANSMIT BUFFER n DATA BYTE m

bit 7-0 TXBnDM7:TXBnDM0: Transmit Buffer n Data Field Bytes m

 2004 Microchip Technology Inc. Preliminary DS21801C-page 21

DS21801C-page 22 Preliminary  2004 Microchip Technology Inc.

 2004 Microchip Technology Inc. Preliminary DS21801C-page 23

FIGURE 4-1: START-OF-FRAME SIGNALING

Normal SOF Signaling

START-OF-FRAME BIT ID BIT

DS21801C-page 24 Preliminary  2004 Microchip Technology Inc.

FIGURE 4-2: RECEIVE BUFFER BLOCK DIAGRAM