Are there any CANBus application layer libraries available?

Projects Networking, Protocols, and Devices
1

I am starting to work on a project where I connect various Arduinos through a CANBus.

I am using for the following library (mcp2515 as hardware)

Now I am wondering if there are any simple application layer libraries around.

I only found this CANOpen implementation

I read before that people refrained from implementing such a library because it will be "too big". I am also concerned if such a library uses up processing time when used for simple tasks.

Are there alternatives or should I just implement my own application layer?

many thanks
olaf

2

it is probably simpler to implement your own application layer
it is also a good idea to have a USB-CAN dongle for a PC so you can view traffic on the bus
can your describe your project in more detail?

3

I am working on some kind of music instrument interface which is modular and because of this distributed over various arduinos. These arduinos also have to communicate between each other (at a lower priority) and receive updates and send data to a computer.

I just stumbled uppon Libcanard: GitHub - OpenCyphal/libcanard: A compact implementation of the Cyphal/CAN protocol in C for high-integrity real-time embedded systems

Looks interesting but don't know how much work it is to use it with arduino.

... i tried i2c multi master before ... it works in theory ... but now have to wrap my head around can