Datasheet

647
SAM9263 [DATASHEET]
Atmel-6249N-ATARM-SAM9263-Datasheet_14-Mar-16
36.7.2 CAN Controller Interrupt Handling
There are two different types of interrupts. One type of interrupt is a message-object related interrupt, the other is
a system interrupt that handles errors or system-related interrupt sources.
All interrupt sources can be masked by writing the corresponding field in the CAN_IDR. They can be unmasked by
writing to the CAN_IER. After a power-up reset, all interrupt sources are disabled (masked). The current mask
status can be checked by reading the CAN_IMR.
The CAN_SR gives all interrupt source states.
The following events may initiate one of the two interrupts:
 Message object interrupt
 Data registers in the mailbox object are available to the application. In Receive Mode, a new message
was received. In Transmit Mode, a message was transmitted successfully.
 A sent transmission was aborted.
 System interrupts
 Bus off interrupt: The CAN module enters the bus off state.
 Error passive interrupt: The CAN module enters Error Passive Mode.
 Error Active Mode: The CAN module is neither in Error Passive Mode nor in Bus Off mode.
 Warn Limit interrupt: The CAN module is in Error-active Mode, but at least one of its error counter
value exceeds 96.
 Wake-up interrupt: This interrupt is generated after a wake-up and a bus synchronization.
 Sleep interrupt: This interrupt is generated after a Low-power Mode enable once all pending
messages in transmission have been sent.
 Internal timer counter overflow interrupt: This interrupt is generated when the internal timer rolls over.
 Timestamp interrupt: This interrupt is generated after the reception or the transmission of a start of
frame or an end of frame. The value of the internal counter is copied in the CAN_TIMESTP register.
All interrupts are cleared by clearing the interrupt source except for the internal timer counter overflow interrupt and
the timestamp interrupt. These interrupts are cleared by reading the CAN_SR.