写一段基于arduino与mcp2515模块的CAN通信实例

好的，我可以回答这个问题。以下是一个基于Arduino与MCP2515模块的CAN通信示例代码：

#include <SPI.h>
#include <mcp2515.h>

#define CAN_CS 10

MCP2515 can(CAN_CS);

void setup() {
  Serial.begin(9600);
  can.begin(CAN_250KBPS);
  can.setMode(MCP_NORMAL);
}

void loop() {
  if (can.readMessage(&rxMsg) == MCP2515::ERROR_OK) {
    Serial.print("Received message id: ");
    Serial.print(rxMsg.can_id, HEX);
    Serial.print(" data: ");
    for (byte i = 0; i < rxMsg.can_dlc; i++) {
      Serial.print(rxMsg.data[i], HEX);
      Serial.print(" ");
    }
    Serial.println();
  }

  // Send a message every 1 second
  static ulong prevTime = 0;
  ulong currTime = millis();
  if (currTime - prevTime > 1000) {
    prevTime = currTime;
    tCANMsg txMsg;
    txMsg.can_id = 0x123;
    txMsg.can_dlc = 2;
    txMsg.data[0] = 0xAA;
    txMsg.data[1] = 0xBB;
    can.sendMessage(&txMsg);
  }
}

这个示例代码初始化了MCP2515模块，并通过CAN接口接收和发送CAN消息。如果你有任何疑问，请随时问我。