Arduino ReadCan

#include <SPI.h>
#include "mcp_can.h"

#define CAN_CS_PIN 10

MCP_CAN CAN(CAN_CS_PIN);

void setup() {
  Serial.begin(115200);
  Serial.println("Booting up");


//  uint8_t can_speed = 0;
  uint8_t can_speed = CAN_1000KBPS;

  uint8_t can_status = CAN.begin(can_speed);

  while(can_status != CAN_OK)
  {
    Serial.println("Could not init CAN, retrying...");
    delay(250);
    can_status = CAN.begin(can_speed);
  }

  Serial.println("CAN MCP2515 init ok!");
  //CAN.init_Mask(0, 0, 0x3ff);                         // there are 2 mask in mcp2515, you need to set both of them
  //CAN.init_Mask(1, 0, 0x3ff);

}

void ReadCan()
{

  uint8_t len = 0;
  uint8_t buf[8];
  uint8_t st = CAN.checkReceive();

  //Serial.print("S: "); Serial.println(st);
  if(st != CAN_MSGAVAIL)
  {
    return;
  }

  //Must read message before checking ID and other flags.

  CAN.readMsgBuf(&len, buf);

  Serial.print("ID "); Serial.print(CAN.getCanId(), HEX);
  Serial.print(CAN.isExtendedFrame()?" E L":" s L");


  Serial.print(len); Serial.print(" ");

  for(int i = 0; i<len; i++)
  {
    if(buf[i]<0x10)
    {
      Serial.print("0");
    }
    Serial.print(buf[i], HEX);
    if(i<len-1)
    {
      Serial.print(":");
    }
  }
  Serial.println();
}

void loop() {
  ReadCan();
  delay(500);
}