1.Poll the RXFIFO status. Read the can.ISR[RXOK] or can.ISR[RXNEMP] register until a message is received. Proceed to step 2 when a bit is set.
2.Read the message from the RXFIFO. Read all four of the registers (can.RXFIFO_ID, can.RXFIFO_DLC, can.RXFIFO_DATA1, and can.RXFIFO_DATA2).
3.Determine if more messages are in the RXFIFO. Read can.ISR[RXNEMP].