How does the IOT-GATE-iMX7 handle receiving CAN data?

When receiving CAN data with the IOT-GATE-iMX7 (Linux/Debian/Python)

How is the byte data received? Are the headers included in the data packet? Are they separate, therefore two packets? Are they stripped off? Therefore just data?

If a clear format of the byte data that's received is known, it would be of great help. Thanks.



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