#include <arduinoCAN.h>
    #include <arduinoClasses.h>
    #include <arduinoMultiprotocol.h>
    #include <arduinoUART.h>
    #include <arduinoUtils.h>
    #include <Wire.h>
    #include <SPI.h>

    // Create an instance of the object
    CAN myCAN = CAN();

    // Setting up our devices and I/Os
    void setup() {
    // Using the Socket 0 onto which Can bus module is plugged in
    Utils.setONSocket0();
    Utils.setMUXSocket0();
    // Initializes the UART
    Serial.begin(115200);
    delay(100);

    myCAN.begin(500); // Start talking to the BUS. Speed= 500 Kbps
    }

    void loop() {
    // 1. Receive data

    if (myCAN.messageAvailable()) {
    // Read the last message received.
    myCAN.getMessage(&myCAN.messageRx);
    // Print in the serial monitor the received message
    myCAN.printMessage(&myCAN.messageRx);
     }
    }