can

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

#define CAN0_INT 2   // Set INT to pin 2
MCP_CAN CAN0(10);    // Set CS to pin 53

void setup() {

    Serial.begin(115200);

    // Initialize MCP2515 CAN controller at the specified baud rate
    if (CAN0.begin(MCP_ANY, CAN_500KBPS, MCP_8MHZ) == CAN_OK) {
        Serial.println("CAN BUS Shield init ok!");
    } else {
        Serial.println("CAN BUS Shield init fail");
        Serial.println(" Init CAN BUS Shield again");
        delay(100);
        while (1);
    }

    // Set receive interrupt
    CAN0.setMode(MCP_NORMAL);
    pinMode(CAN0_INT, INPUT);

    Serial.println("Starting to Receive CAN BUS Message...");
}

void loop() {
    long unsigned int rxId;
    unsigned char len = 0;
    unsigned char rxBuf[8];

    // Check if data is coming
    if (!digitalRead(CAN0_INT)) {
        CAN0.readMsgBuf(&rxId, &len, rxBuf);

        Serial.print("CAN ID: ");
        Serial.print(rxId, HEX);
        Serial.print(" Data: ");

        for (int i = 0; i < len; i++) {
            Serial.print(rxBuf[i], HEX);
            Serial.print("\t");
        }
        Serial.println();
    }
}