title: How to create protocol for the network layer on CAN bus?
body: <p>I am using MCP 2515 integrated CAN controllers/transceivers and arduino microcontrollers connected to multiple sensors to create a CAN bus. I am now trying to create a network layer on top of the simple CAN messaging. The goal is to emulate a 1553 bus with CAN. </p>
  
  <p>Can this simply be done with the use of masks and filters and a for loop that cycles through each controller to ask if there is data to be sent on a CAN bus shield? I have investigated the CANopen protocol, but I am unsure on how to even begin (generating PDOs/SDOs and creating the proper library).</p>