ESP32 CAN fast receive-check

[ThomasK]

Hello,
I need a quicker query whether a new message has arrived. 3ms, even one ms is too long. When a message arrives, I have enough time to evaluate it or wait until the queue is full ... but not for the check in the working-loop.
What is a faster alternative to the standard question:
if (xQueueReceive(CAN_cfg.rx_queue, &rx_frame, 3 * portTICK_PERIOD_MS) == pdTRUE)
{.....}
???
Thanx

[ThomasK]

Can I directly read the status register from the CAN-controller whether a new message has arrived? If yes - how ?
Thank you.

[CollinK]

You are allowed to specify a wait time of 0. In that case if there are no pending messages to receive then the function just immediately terminates. So, you can poll for CAN frames that way.

[ThomasK]

Very simple and it works...
Thank you