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https://awesome-micropython.com lists a couple of MCP2515 drivers. I wrote my own but it's embedded in another library and uses asyncio so it wouldn't help you much. Or you could port one of the many Arduino drivers. It's really just reading and writing chip registers over SPI.
There is some work to implement a common CAN interface in micropython but it's some way off yet: https://github.com/micropython/micropython/pull/13149