can_bus.ino

#include "mcp_can.h"

const int SPI_CS_PIN = 9;
const int LED=13;
boolean ledON=1;
MCP_CAN CAN(SPI_CS_PIN);

void setup()
{
    Serial.begin(115200);
    pinMode(LED, OUTPUT);

    Serial.begin(9600);
    //while (!Serial) {
    //  ;
    //}

    while (CAN_OK != CAN.begin(CAN_100KBPS_8MHZ))
    {
        Serial.println("CAN BUS Shield init fail");
        Serial.println(" Init CAN BUS Shield again");
        delay(100);
    }
    Serial.println("CAN BUS Shield init ok!");
}


void loop()
{
    unsigned char len = 0;
    unsigned char buf[8];

    if(CAN_MSGAVAIL == CAN.checkReceive())            // check if data coming
    {
        CAN.readMsgBuf(&len, buf);    // read data,  len: data length, buf: data buf

        unsigned char canId = CAN.getCanId();
        
        Serial.print("[");
        Serial.print(canId);
        Serial.print("\t");

        for(int i = 0; i<len; i++)    // print the data
        {
            Serial.print(buf[i]);
            Serial.print("\t");
            if(ledON && i==0)
            {

                digitalWrite(LED,buf[i]);
                ledON=0;
                delay(500);
            }
            else if((!(ledON)) && i==4)
            {

                digitalWrite(LED,buf[i]);
                ledON=1;
            }
        }
        Serial.println("]");
    }
}