Compilation issue with CAN communication on MCP chip

[julesberhault]

Compilation error: 'MCP2515Class' does not name a type; did you mean 'MCP2515_INT'?

Trying to compile SineWaveCAN on ESP32 (M5Stack Basic) with MCP2515 chip (M5Stack COMMU)

Board: M5Stack-Core-ESP32
Dependencies:

• arduino-CAN 0.3.1
• MCP_CAN_lib 1.5.1
• ODriveArduino 0.10.0

Error output:

In file included from /private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:50:
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:21: error: 'MCP2515Class' was not declared in this scope
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                     ^~~~~~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:21: note: suggested alternative: 'MCP2515_INT'
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                     ^~~~~~~~~~~~
                     MCP2515_INT
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:35: error: 'can_intf' was not declared in this scope
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                                   ^~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:35: note: suggested alternative: 'wprintf'
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                                   ^~~~~~~~
                                   wprintf
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:54: error: expected primary-expression before 'id'
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                                                      ^~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:66: error: expected primary-expression before 'length'
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                                                                  ^~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:74: error: expected primary-expression before 'const'
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                                                                          ^~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:17:93: error: expression list treated as compound expression in initializer [-fpermissive]
 static bool sendMsg(MCP2515Class& can_intf, uint32_t id, uint8_t length, const uint8_t* data) {
                                                                                             ^
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:35:24: error: variable or field 'pumpEvents' declared void
 static void pumpEvents(MCP2515Class& intf) {
                        ^~~~~~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:35:24: error: 'MCP2515Class' was not declared in this scope
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:35:24: note: suggested alternative: 'MCP2515_INT'
 static void pumpEvents(MCP2515Class& intf) {
                        ^~~~~~~~~~~~
                        MCP2515_INT
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:35:38: error: 'intf' was not declared in this scope
 static void pumpEvents(MCP2515Class& intf) {
                                      ^~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:35:38: note: suggested alternative: 'rintf'
 static void pumpEvents(MCP2515Class& intf) {
                                      ^~~~
                                      rintf
In file included from /private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:3:
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:41:25: error: 'MCP2515Class' was not declared in this scope
 CREATE_CAN_INTF_WRAPPER(MCP2515Class)
                         ^~~~~~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveCAN.h:12:40: note: in definition of macro 'CREATE_CAN_INTF_WRAPPER'
     ODriveCanIntfWrapper wrap_can_intf(TIntf& intf) { \
                                        ^~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:41:25: note: suggested alternative: 'MCP2515_INT'
 CREATE_CAN_INTF_WRAPPER(MCP2515Class)
                         ^~~~~~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveCAN.h:12:40: note: in definition of macro 'CREATE_CAN_INTF_WRAPPER'
     ODriveCanIntfWrapper wrap_can_intf(TIntf& intf) { \
                                        ^~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveCAN.h:12:47: error: 'intf' was not declared in this scope
     ODriveCanIntfWrapper wrap_can_intf(TIntf& intf) { \
                                               ^~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:41:1: note: in expansion of macro 'CREATE_CAN_INTF_WRAPPER'
 CREATE_CAN_INTF_WRAPPER(MCP2515Class)
 ^~~~~~~~~~~~~~~~~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveCAN.h:12:47: note: suggested alternative: 'rintf'
     ODriveCanIntfWrapper wrap_can_intf(TIntf& intf) { \
                                               ^~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:41:1: note: in expansion of macro 'CREATE_CAN_INTF_WRAPPER'
 CREATE_CAN_INTF_WRAPPER(MCP2515Class)
 ^~~~~~~~~~~~~~~~~~~~~~~
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveCAN.h:12:53: error: expected ',' or ';' before '{' token
     ODriveCanIntfWrapper wrap_can_intf(TIntf& intf) { \
                                                     ^
/Users/julesberhault/Documents/Arduino/libraries/ODriveArduino/src/ODriveMCPCAN.hpp:41:1: note: in expansion of macro 'CREATE_CAN_INTF_WRAPPER'
 CREATE_CAN_INTF_WRAPPER(MCP2515Class)
 ^~~~~~~~~~~~~~~~~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:90:1: error: 'MCP2515Class' does not name a type; did you mean 'MCP2515_INT'?
 MCP2515Class& can_intf = CAN;
 ^~~~~~~~~~~~
 MCP2515_INT
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino: In function 'void receiveCallback(int)':
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:108:37: error: 'CAN' was not declared in this scope
   CanMsg msg = {.id = (unsigned int)CAN.packetId(), .len = (uint8_t)packet_size};
                                     ^~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:108:37: note: suggested alternative: 'NAN'
   CanMsg msg = {.id = (unsigned int)CAN.packetId(), .len = (uint8_t)packet_size};
                                     ^~~
                                     NAN
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino: In function 'bool setupCan()':
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:115:3: error: 'CAN' was not declared in this scope
   CAN.setPins(MCP2515_CS, MCP2515_INT);
   ^~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:115:3: note: suggested alternative: 'NAN'
   CAN.setPins(MCP2515_CS, MCP2515_INT);
   ^~~
   NAN
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino: At global scope:
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:144:31: error: 'can_intf' was not declared in this scope
 ODriveCAN odrv0(wrap_can_intf(can_intf), ODRV0_NODE_ID); // Standard CAN message ID
                               ^~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:144:31: note: suggested alternative: 'wprintf'
 ODriveCAN odrv0(wrap_can_intf(can_intf), ODRV0_NODE_ID); // Standard CAN message ID
                               ^~~~~~~~
                               wprintf
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino: In function 'void setup()':
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:204:16: error: 'can_intf' was not declared in this scope
     pumpEvents(can_intf);
                ^~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:204:16: note: suggested alternative: 'wprintf'
     pumpEvents(can_intf);
                ^~~~~~~~
                wprintf
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:204:5: error: 'pumpEvents' was not declared in this scope
     pumpEvents(can_intf);
     ^~~~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:204:5: note: suggested alternative: 'ETSEvent'
     pumpEvents(can_intf);
     ^~~~~~~~~~
     ETSEvent
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:238:18: error: 'can_intf' was not declared in this scope
       pumpEvents(can_intf);
                  ^~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:238:18: note: suggested alternative: 'wprintf'
       pumpEvents(can_intf);
                  ^~~~~~~~
                  wprintf
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:238:7: error: 'pumpEvents' was not declared in this scope
       pumpEvents(can_intf);
       ^~~~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:238:7: note: suggested alternative: 'ETSEvent'
       pumpEvents(can_intf);
       ^~~~~~~~~~
       ETSEvent
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino: In function 'void loop()':
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:246:14: error: 'can_intf' was not declared in this scope
   pumpEvents(can_intf); // This is required on some platforms to handle incoming feedback CAN messages
              ^~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:246:14: note: suggested alternative: 'wprintf'
   pumpEvents(can_intf); // This is required on some platforms to handle incoming feedback CAN messages
              ^~~~~~~~
              wprintf
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:246:3: error: 'pumpEvents' was not declared in this scope
   pumpEvents(can_intf); // This is required on some platforms to handle incoming feedback CAN messages
   ^~~~~~~~~~
/private/var/folders/0y/hgrmrp757yzggl0t3b389nh40000gn/T/.arduinoIDE-unsaved202449-82551-1bp13dc.h7akg/SineWaveCAN/SineWaveCAN.ino:246:3: note: suggested alternative: 'ETSEvent'
   pumpEvents(can_intf); // This is required on some platforms to handle incoming feedback CAN messages
   ^~~~~~~~~~
   ETSEvent

exit status 1

Compilation error: 'MCP2515Class' does not name a type; did you mean 'MCP2515_INT'?

[samuelsadok]

It seems you're using a different MCP library. The ODrive library assumes this one, which looks like this in the library manager:

If you prefer MCP_CAN_lib instead, you would have to write a small glue layer similar to the existing "ODriveMCPCAN.hpp".