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How to tell if other CAN device is present on bus?

Question asked by Robison.Don.002 on Nov 28, 2016
I would like to know if there is another device present on the CAN bus.  Is there a way to do this without too much overhead?  I have my STM32F4 setup and communicating on a CAN bus.  Sometimes there is another device present.  A good portion of the time the other device will be powered down and unresponsive.

I suppose I can poll the other device to see if its in the mood to communicate, but I'm wondering if there is another way.  Is there background signaling happening when I'm not explicitly sending or receiving?  Can I tap the receive pin?