CAN Bus error frame - how do I detect it [STM32]

[heveskar]

What registers do I look at and what bits? Also, does the peripheral library wrap all the code needed to handle error frames? We are using a board Nucleo-G474RE.

This question was already asked at https://community.st.com/s/question/0D50X00009XkhBe/can-bus-error-frame-how-do-i-detect-it-stm32-bxcan, but no one answered.