i want to extract the ID of an incoming CAN message inside an ISR. I'm able to send and recieve messages, extract the message data, and send messages with own ID's. The MSCAN identifier Acceptance Filters get the right ID hits, but when i read out the Identifier Registers (IDR 0- 3) i get 0x000 after a reset. If I sent a message before receiving, the message ID of the sent message is still in the IDR registers.
But how do I get the message ID of the incoming message?
Any hints would be greatly appreciated, as I didn't find any example code on the internet.