RECEIVE_MESSAGE:
  InBuffer = GetValue (_CF)
  IF (InBuffer > 0) THEN
    ID = GetValue (_CAN, 1)
'extract target, if target = toRoboteq handle confirmation handshage messages or handle incoming messages
	Target = ID AND 0b111 'target mask
	IF (Target = toRoboteq) THEN
'handle confirmation handshake messages (only for Fault and Status flags)
      IF (ID = RoboteqFault_confirm) THEN
  	    LastFaultFlags = FaultFlags
	  ELSEIF (ID = RoboteqStatus_confirm) THEN
  	    LastStatusFlags = StatusFlags
'handle incoming messages: retrieve data and parse ID to get Category and Name, and set MsgReceived to TRUE
	  ELSE
'probably not necessary, but clear old data out of array
        FOR i = 0 AndWhile (i <= 7)
		  ReceivedData[i] = 0
		NEXT
'extract data from message
  	    NumData = GetValue (_CAN, 2)
	    IF (NumData > 0) THEN
          FOR i = 0 AndWhile (i <= NumData-1) 'changed from NumData so can't go out-of-range
	       ReceivedData[i] = GetValue (_CAN, 3+i)
	      NEXT
	    END IF
'check for bit-wise complement integrity
		Pairs = NumData/2
		Check = TRUE
		IF (Pairs > 0) THEN
          FOR i = 0 AndWhile (i <= Pairs-1)
		    IF (ReceivedData[i] + ReceivedData[i+pairs] <> 0xFF) THEN
			  check = false
			END IF
			IF (check = false) THEN
			  EXIT FOR
			END IF
		  NEXT
		END IF
'if all OK, extract Category and Name and set MsgReceived to TRUE
        IF (Check = TRUE) THEN
 	      Category = (ID >>9) AND 0b11 'category mask
	      Name = (ID >> 3) AND 0b111111 'name mask
	      MsgReceived = TRUE
		END IF
	  END IF 'handling confirmation messages or 
	END IF '(Target = toRoboteq)
  END IF '(InBuffer = TRUE)
RETURN 'RECEIVE_MESSAGE