We have made a patch to make the Extended ID work in the mcp2515 driver with Nuttx. Its a really strong feature in CANBus. Below are some pictures which show the different setups. We used a Nucleo-F411RE and a Microchip solution with CAN-SPI Modules.
The PINOUT which is used:
PA5 = SCK, PA6=MISO, PA7=MOSI, PA1=INT, PA4=CS and +5V and GND
