CANquitto is a new canbus protocol library designed for teensy 3.x series MCUs. Currently in development stage, it has adopted quite a few features. This library takes advantage of IFCT and Circular_Buffer libraries when dealing with payload re-assembly.
Forum: https://forum.pjrc.com/threads/53776-CANquitto
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Multi-master design: nodes can control each other, and 2 or more nodes can control a single node.
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Payload transfers: You can send payloads to other nodes which they'll receive in their callback.
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GPIO controls, read/write/toggle/pinmode,analogread pins on any nodes
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Serial/UART controls, full UART/USBSerial functionality combined with Stream class, allows pass-by-reference