/**********************************************
CanMessage Class Begin
**********************************************/
class CanMessage
{
  public:
  unsigned char data[8];
  unsigned char len = 0;
  long unsigned int id;
 
  String toString()
  {
    String messageString = "ID: 0x";
    messageString += String(id, HEX);
    messageString += "\tLEN: 0x";
    messageString += String(len, HEX);
    messageString += "\tDATA: ";
    for(int i = 0; i < 8; i++)
    {
      messageString += "0x";
      if(data[i] < 0x10)
      {
        messageString += "0";
      }
      messageString += String(data[i], HEX);
      messageString += " ";
    }
    return messageString;
  }
};
/**********************************************
CanMessage Class End
**********************************************/

#include <mcp_can> //Cory J Fowler's CAN bus library: https://github.com/coryjfowler/MCP_CAN_lib/archive/master.zip
const int canPin = 10;
MCP_CAN CAN0(canPin); //CS PIN 10

void setup()
{
  Serial.begin(115200);
  //initializing canbus shield for high speed bus
  if(CAN0.begin(CAN_500KBPS) == CAN_OK)
  {
    Serial.println("CAN Bus Shield Init - OK");
  }
  else
  {
    Serial.println("CAN Bus Shield Init - OK");
  }
  delay(1000);
}

void loop()
{
  CanMessage message;
 
  message.id = CAN0.getCanId();
  CAN0.readMsgBuf(&message.len, message.data);
  if(message.id != 0 && message.len != 0)
  {
    Serial.println(message.toString());
  }

}