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13.2.4 CAN Configuration Register ................................................................. 13-16
13.2.5 CAN Time Stamp Count Register ......................................................... 13-19
13.2.6 CAN Error Count Registers .................................................................. 13-20
13.2.7 CAN Baud Rate Prescaler .................................................................... 13-21
13.2.8 CAN Interrupt Related Registers .......................................................... 13-22
13.2.9 CAN Mask Registers ............................................................................ 13-30
13.2.10 CAN Message Slot Control Registers ................................................. 13-34
13.2.11 CAN Message Slots ............................................................................ 13-38
13.3 CAN Protocol ............................................................................................... 13-53
13.3.1 CAN Protocol Frame ............................................................................. 13-53
13.4 Initializing the CAN Module ........................................................................ 13-56
13.4.1 Initialization of the CAN Module ............................................................ 13-56
13.4.2 CAN Timing .......................................................................................... 13-59
13.5 Transmitting Data Frames .......................................................................... 13-60
13.5.1 Data Frame Transmit Procedure .......................................................... 13-60
13.5.2 Data Frame Transmit Operation ........................................................... 13-62
13.5.3 Transmit Abort Function ....................................................................... 13-63
13.6 Receiving Data Frames .............................................................................. 13-64
13.6.1 Data Frame Receive Procedure ........................................................... 13-64
13.6.2 Data Frame Receive Operation ............................................................ 13-66
13.6.3 Reading Out Received Data Frames .................................................... 13-68
13.7 Transmitting Remote Frames .................................................................... 13-70
13.7.1 Remote Frame Transmit Procedure ..................................................... 13-70
13.7.2 Remote Frame Transmit Operation ...................................................... 13-72
13.7.3 Reading Out Received Data Frames when Set for Remote Frame Transmission .. 13-75
13.8 Receiving Remote Frames ......................................................................... 13-77
13.8.1 Remote Frame Receive Procedure ...................................................... 13-77
13.8.2 Remote Frame Receive Operation ....................................................... 13-79
13.9 Precautions about CAN Module ................................................................ 13-82
CHAPTER 14 REAL-TIME DEBUGGER (RTD)