mcp2515 can-bus mini gateway

Projects Networking, Protocols, and Devices
1

Hello. I have can network 500kbps and standart id's. I need change data in one packet and send it to network. I use two mcp2515 boards and one arduino nano. I use the example dual-can, changed it to my job. So i have ecu1->mcp2515 can0-> mcp2515 can1->ecu2.

Here is my code:

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

char msgString[128];
char proba[128];

unsigned long rxId;
byte len;
//byte rxBuf[8];
unsigned char rxBuf[8];



byte txBuf0[] = {0xAA,0x55,0xAA,0x55,0xAA,0x55,0xAA,0x55};
byte txBuf1[] = {0x55,0xAA,0x55,0xAA,0x55,0xAA,0x55,0xAA};
byte ya[] = {0x06,0x40,0x26,0x08,0x26,0x08,0xa6,0x08};
byte ya2[] = {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};

MCP_CAN CAN0(10);                              // CAN0 interface usins CS on digital pin 10
MCP_CAN CAN1(9);                               // CAN1 interface using CS on digital pin 9

void setup()
{
  Serial.begin(115200);
  
  // init CAN0 bus, baudrate: 250k@16MHz
  if(CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK){
  Serial.print("CAN0: Init OK!\r\n");
  CAN0.setMode(MCP_NORMAL);
  } else Serial.print("CAN0: Init Fail!!!\r\n");
  
  // init CAN1 bus, baudrate: 250k@16MHz
  if(CAN1.begin(MCP_ANY, CAN_500KBPS, MCP_16MHZ) == CAN_OK){
  Serial.print("CAN1: Init OK!\r\n");
  CAN1.setMode(MCP_NORMAL);
  } else Serial.print("CAN1: Init Fail!!!\r\n");
  
  SPI.setClockDivider(SPI_CLOCK_DIV2);         // Set SPI to run at 8MHz (16MHz / 2 = 8 MHz)
}

void loop(){  
  
  if(!digitalRead(2)){                         // If pin 2 is low, read CAN0 receive buffer
    CAN0.readMsgBuf(&rxId,0, &len, rxBuf);  
if ((rxBuf[0] == 0x02)&&(rxId==0x212))
    // if (rxId==0x212)
   {      
        sprintf(msgString, "stdID: 0x%.3X  DLC: %1d  Data: %.2X %.2X %.2X %.2X %.2X %.2X %.2X %.2X\n\r", rxId , len, rxBuf[0], rxBuf[1], rxBuf[2], rxBuf[3], rxBuf[4], rxBuf[5], rxBuf[6], rxBuf[7]);
   CAN1.sendMsgBuf(rxId, 0,len, ya); 
    Serial.println(msgString);
    //sprintf(proba,rx
      Serial.println(rxBuf[2],HEX);
    Serial.println("ya");
   } 
   else
CAN1.sendMsgBuf(rxId,0, len, rxBuf); 

if(!digitalRead(3)){                         // If pin 3 is low, read CAN1 receive buffer
    CAN1.readMsgBuf(&rxId,0, &len, rxBuf);       // Read data: len = data length, buf = data byte(s)
    CAN0.sendMsgBuf(rxId,0, len, rxBuf);      // Immediately send message out CAN0 interface
  }}
}

So i can read packets from can1 and can0, but they does not transfer to each other. Can some body say why? Do i need to change somewhere pin 2 or 3 to high?