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AM5729: How is the FIFO buffer configured for DCAN1 module?

Part Number: AM5729
Other Parts Discussed in Thread: ISO1050

The TRM mentions the configuration of a FIFO buffer.

There's no mention of any other register that needs configuring other than the message object.

Is the message object mentioned in the 2 screenshots the same as the message object stored in RAM?

If yes, the message object is configured via the IF registers. Is my understanding correct?

Then, does that mean inputs from ISO1050 RXD pin goes FIFO buffer and whatever CAN frame is formed in the FIFO buffer will automatically be transferred to the message object in RAM that matches its ID, arbitration and mask registers?

If yes, then I have an issue because the message object is configured but nothing is stored in the message object in the RAM when I try to send via CAN frames Robotell.

Is there an available program sample which uses DCAN* RX pin and demonstrates the FIFO buffer mentioned in the TRM?