Changes

== Applications ==

The [https://python-can.readthedocs.io/en/stable/ python-can] library provides Controller Area Network support for Python, providing common abstractions to different hardware devices, and a suite of utilities for sending and receiving messages on a CAN bus.

=== Pi4 ===

Raspberry Pi offers an easy to deploy 2-Channel Isolated CAN Bus Expansion HAT which allows to quickly integrate it to the peripheral devices. See the [https://www.waveshare.com/wiki/2-CH_CAN_HAT tutorial] for more information

=== Arduino ===

Arduino has a good support of the MCPs with many implementations of the [https://github.com/Seeed-Studio/Seeed_Arduino_CAN drivers]

=== MCP2515 Driver ===

By default the CAN bus node is supposed to acknowledge every message on the bus weather or not that node is interested in the message. However, the interference on the network can drop some bits during the communication. In the standard mode, the node would not only continuously try to re-send the unacknowledged messages, but also after a short period it would start sending error frames and then eventually go to bus-off mode and stop. This causes sever issues when the CAN network works with multiple motors.

The controller has a [http://ww1.microchip.com/downloads/en/DeviceDoc/MCP2515-Stand-Alone-CAN-Controller-with-SPI-20001801J.pdf one-shot] setup that requires changes in the driver.

== References ==