The MCP2518FD is a CAN FD (Flexible Data Rate) controller produced by Microchip, which fully supports CAN framing in the Classic (CAN2.0) and CAN Flexible Data Rate (CAN FD) formats. Since the Raspberry Pi itself does not support the CAN bus, the CAN controller with the SPI interface is used with a transceiver to complete the CAN function. Any message detected on the CAN bus is checked for errors and then matched against a user-defined filter to determine whether to move the message to one of two receive buffers. Communication status and errors can be checked by reading the corresponding registers. A transmit operation can be initiated by setting the corresponding bit in the control register through the SPI interface or by using the transmit enable pin. When a message is sent, the message is first loaded into the correct message buffer and control registers. The function of the CAN module is to handle the reception and transmission of all messages on the CAN bus.
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