Hello Pratibha,
The AN4975 describes how to use the CANIDAR and CANIDMR registers.
https://www.nxp.com/docs/en/application-note/AN4975.pdf
https://www.nxp.com/docs/en/application-note-software/AN4975SW.zip
The detail description of the CAN module properties and usage of the ID to filter the received message is also in RM
https://www.nxp.com/webapp/Download?colCode=MC9S12ZVMRM
in section 13.3, 13.4 and 13.5. The only message which fit to receiver ID filter can be accepted.
Attached is the SW example for the CAN on ZVM MCU also. You can use it for your application or modify it to your requirements.
I think it can help you to solve your task.
Best Regards,
Stano.
