CAN Bus Module MCP2515

/*
To use a CAN Bus module based on the MCP2515 CAN controller and TJA1050 transceiver with an Arduino, you can use the "MCP_CAN" library by Cory J. Fowler. This library makes it easy to interact with the CAN Bus module using SPI communication.

Here's an example of Arduino code to send and receive messages using the MCP2515 CAN Bus module:

Requirements:

Arduino board (e.g., Uno, Mega, Nano)
CAN Bus module (MCP2515 + TJA1050)
Jumper wires
MCP_CAN library (install from Arduino IDE Library Manager)

In this example, the MCP2515 CAN Bus module is connected to the Arduino using the SPI interface with a chip select pin (SPI_CS_PIN) defined as 10. The module is initialized at 500kbps. The code sends a 6-byte message with an ID of 0x100 and a predefined data payload. It also listens for incoming CAN messages and prints the received ID and data to the Serial Monitor.

Before uploading the code, make sure you have the MCP_CAN library installed. You can install it through the Arduino IDE Library Manager. Search for "MCP_CAN" by Cory J. Fowler and install the library.
*/

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

// Pins for the MCP2515 CAN module
const int SPI_CS_PIN = 10;

// Create MCP_CAN object
MCP_CAN CAN(SPI_CS_PIN);

void setup() {
  Serial.begin(115200);

  // Initialize MCP2515 CAN module at 500kbps
  while (CAN_OK != CAN.begin(CAN_500KBPS)) {
    Serial.println("CAN BUS Module Failed to Initialize! Retrying...");
    delay(1000);
  }
  Serial.println("CAN BUS Module Initialized!");

  // Set up receiving mask and filter
  CAN.init_Mask(0, 0x7FF);
  CAN.init_Filt(0, 0x7FF);
}

void loop() {
  // Send a CAN message
  unsigned long id = 0x100;
  byte data[] = {0xAA, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF};
  byte len = 6;

  CAN.sendMsgBuf(id, 0, len, data);

  // Receive a CAN message
  long unsigned int rxId;
  byte rxBuf[8];
  byte rxLen = 0;

  if (CAN_MSGAVAIL == CAN.checkReceive()) {
    CAN.readMsgBuf(&rxId, &rxLen, rxBuf);

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

    for (int i = 0; i < rxLen; i++) {
      Serial.print(rxBuf[i], HEX);
      Serial.print(" ");
    }
    Serial.println();
  }

  delay(1000);
}