Getting started with an IVT-S and Arduino Uno CAN bus shield

First of all, set up your Arduino Uno and CAN bus shield.

Once the data is coming in over CAN, we can write a simple program to read the current value from the IVT-S

Here's the code:

// IVT-S meter using CAN-BUS Shield
// electric_dart 2020

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

/*SAMD core*/
#ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE
    #define SERIAL SerialUSB
#else
    #define SERIAL Serial
#endif

// the cs pin of the version after v1.1 is default to D9
// v0.9b and v1.0 is default D10
const int SPI_CS_PIN = 10;
const int CAN_INT_PIN = 2;

MCP_CAN CAN(SPI_CS_PIN);                                    // Set CS pin

unsigned char flagRecv = 0;
unsigned char len = 0;
unsigned char buf[8];
char str[20];

void setup() {
    SERIAL.begin(115200);
    while (!SERIAL) {
        ; // wait for serial port to connect. Needed for native USB port only
    }
    while (CAN_OK != CAN.begin(CAN_1000KBPS)) {            // init can bus
        SERIAL.println("CAN BUS Shield init fail");
        SERIAL.println("Init CAN BUS Shield again");
        delay(100);
    }
    SERIAL.println("CAN BUS Shield init ok!");

    attachInterrupt(digitalPinToInterrupt(CAN_INT_PIN), MCP2515_ISR, FALLING); // start interrupt

    /*
        set receive mask
    */
    CAN.init_Mask(0, 0, 0x7ff);                         // there are 2 masks in mcp2515, you need to set both of them
    CAN.init_Mask(1, 0, 0x7ff);                         // 0x7ff is '11111111111' in binary, so we are checking 11 of the CAN message ID bits  


    /*
        set receive filter
    */
    CAN.init_Filt(0, 0, 0x521);                          // there are 6 filters in mcp2515
    CAN.init_Filt(1, 0, 0x521);                          // 0x521 is the CAN mssage ID for IVT-S Current value
    CAN.init_Filt(2, 0, 0x521);                          
    CAN.init_Filt(3, 0, 0x521);                          
    CAN.init_Filt(4, 0, 0x521);                          
    CAN.init_Filt(5, 0, 0x521);                          

}

void MCP2515_ISR() {
    flagRecv = 1;
}

void loop() {
    if (flagRecv) {
        // check if get data

        flagRecv = 0;                   // clear flag

        // iterate over all pending messages
        // If either the bus is saturated or the MCU is busy,
        // both RX buffers may be in use and reading a single
        // message does not clear the IRQ conditon.
        while (CAN_MSGAVAIL == CAN.checkReceive()) {
            // read data,  len: data length, buf: data buf
            CAN.readMsgBuf(&len, buf);
            unsigned long canId = CAN.getCanId();

            if (canId == 0x521) {
              SERIAL.print("Data received from IVT_Msg_Result_I");
              SERIAL.print("\t");
              // Convert individual big endian byte values to actual reading 
              long reading = (buf[2] << 24) | (buf[3] << 16) | (buf[4] << 8) | (buf[5]);
              SERIAL.print(reading);
            }

            SERIAL.println();
        }
    }
}