The can.ISR[RXOK] and/or can.ISR[RXNEMP] bit fields can generate the interrupt. 1.Program the RXFIFO watermark level interrupt. Write to can.WIR[FW] to set the watermark can.ISR[RXFWMFLL] interrupt. 2.Proceed to step 3 when an interrupt is received. 3.Wait until a message is received. Read can.ISR[RXOK] or can.ISR[RXFWMFLL]. 4.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). 5.Determine if RXFIFO is not empty. Read can.ISR[RXNEMP]. 6.Repeat until the RXFIFO is empty. 7.Clear the interrupt.