CP2515 with Arduino: CANoe Bit Error at Position 0 (but works with PCAN)

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I’m working with an MCP2515 CAN module (16 MHz crystal) connected to an Arduino using the mcp_can library by Cory Fowler.

  • Baud rate: 250 kbps
  • Bus termination: 120 Ω resistor at each end
  • With PCAN, I can send/receive messages successfully.
  • With CANoe 15/16, I see this error when Arduino transmits:
CAN Error  TxErr
ECC: 110000000xxxxx
Code: Bit Error
Bit Position: 0
ID: 0x00
DLC: 0

Arduino code

#include <SPI.h>
#include <mcp_can.h>

const int CS_PIN   = 10;      
const int RELAY_PIN = 7;      

MCP_CAN CAN0(CS_PIN);

void setup() {
  pinMode(RELAY_PIN, OUTPUT);
  digitalWrite(RELAY_PIN, LOW); 

  Serial.begin(115200);
  while (!Serial);

 
  if (CAN0.begin(MCP_ANY, CAN_250KBPS, MCP_16MHZ) == CAN_OK) {
    Serial.println("MCP2515 Init OK!");
  } else {
    Serial.println("MCP2515 Init FAILED");
    while (1);
  }

  CAN0.setMode(MCP_NORMAL);
  delay(50);
  Serial.println("Ready to receive CAN messages.");
}

void loop() {
  long unsigned int rxId;
  unsigned char len = 0;
  unsigned char rxBuf[8];
  if (CAN0.checkReceive() == CAN_MSGAVAIL) {
    CAN0.readMsgBuf(&rxId, &len, rxBuf);

    Serial.print("Received ID: 0x");
    Serial.print(rxId, HEX);
    Serial.print(" Data=");

    for (byte i = 0; i < len; i++) {
      if (rxBuf[i] < 0x10) Serial.print("0");
      Serial.print(rxBuf[i], HEX);
      Serial.print(" ");
    }
    Serial.println();

    
    if (rxId == 0x200 && len > 0) {  
      if (rxBuf[0] == 0x01) {
        digitalWrite(RELAY_PIN, HIGH); // turn relay ON
        Serial.println("Relay ON");
      } else if (rxBuf[0] == 0x00) {
        digitalWrite(RELAY_PIN, LOW); // turn relay OFF
        Serial.println("Relay OFF");
      }
    }
  }
}

It looks like CANoe does not ACK my Arduino messages.

Things I’ve checked:

  • MCP2515 runs in Normal mode (verified via CANSTAT register).
  • With MCP loopback mode, messages are fine.
  • Arduino → PCAN communication works both ways.
  • In CANoe, baud is set to **250 kbps, 16 MHz clock.

Questions:

  1. Could this be a bit timing mismatch between MCP2515 and CANoe?
  2. Is there anything in CANoe configuration (e.g. “Use Edge filter”, CAN FD options) that I should disable to match a classic CAN controller?

Any advice on resolving this would be great

Thanks!