not an issue : canbus hardware suggestion
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nliaudat commented
https://www.waveshare.com/2-ch-can-hat.htm
half the price of PICAN2.
For that board :
sudo nano /boot/config.txt
dtparam=spi=on
dtoverlay=mcp2515-can1,oscillator=16000000,interrupt=25
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=23
dtoverlay=spi-bcm2835-overlay
all informations on https://www.waveshare.com/wiki/2-CH_CAN_HAT
That board works with your code.