I have made a library for VSCP (http://www.vscp.org for this shiled. Library plus a fully working VSCP over CAN sample is available here https://sourceforge.net/projects/m2m/fi … 0Firmware/ and here https://github.com/grodansparadis/vscp_ … vr/arduino
VSCP is a free and open protocol for home automation and other control tasks. If you are intersted to learn more about the protocol can find more information here http://vscp.org/docs.php
Enyoy!
akhe