Receiving CAN Messages

Message Receiving Logic:

The complete CAN message receiving and processing is a five-step process. It can be diagrammatically represented as below:
 

In the first step, the CAN message is received from the network by the CAN Transceiver.

Next, the Receive Assembly Register will capture the Identifier and the Data bits from the CAN message.

After that CAN Protocol engine will perform the message validation. It will do the Error and the CRC check, and if any error is detected
then it will raise the error flags. If the message validation checks pass then it will proceed to the next step.

The next step is handled by the filter register. Here the main check of the identifier bits from the CAN message is performed by the filter
register. If the register found the identifier bits are not relevant then the whole CAN message will be filtered out otherwise it will send to
the microcontroller for further processing.

Now in the final step, the Data bits are decoded by the microcontroller and will take the further required action.