Datasheet

Table Of Contents
Note:  The ESI bit of the transmit buffer is OR’ed with the error passive flag to decide the value of
the ESI bit in the transmitted FD frame. As required by the CAN FD protocol specification, an error
active node may optionally transmit the ESI bit recessive, but an error passive node will always
transmit the ESI bit recessive.
T0 Bit 30 - XTD: Extended Identifier
0 : 11-bit standard identifier.
1 : 29-bit extended identifier.
T0 Bit 29 - RTR: Remote Transmission Request
0 : Transmit data frame.
1 : Transmit remote frame.
Note:  When RTR = ‘1’, the CAN transmits a remote frame according to ISO 11898-1, even if
CCCR.CME enables the transmission in CAN FD format.
T0 Bits 28:0 - ID[28:0]: Identifier
Standard or extended identifier depending on bit XTD. A standard identifier is stored into ID[28:18].
T1 Bits 31:24 - MM[7:0]: Message Marker
Written by CPU during Tx Buffer configuration. Copied into Tx Event FIFO element for identification
of Tx message status.
T1 Bit 23 - EFC: Event FIFO Control
0 : Don’t store Tx events.
1 : Store Tx events.
T1 Bit 22 - Reserved
TR1 Bit 21 - FDF: FD Format
0 : Frame transmitted in Classic CAN format.
1 : Frame transmitted in CAN FD format.
T1 Bit 20 - BRS: Bit Rate Search
0 : CAN FD frames transmitted without bit rate switching.
1 : CAN FD frames transmitted with bit rate switching.
Note:  Bits ESI, FDF, and BRS are only evaluated when CAN FD operation is enabled CCCR.FDOE
= ‘1’. Bit BRS is only evaluated when in addition CCCR.BRSE = ‘1’.
T1 Bits 19:16 - DLC[3:0]: Data Length Code
0-8 : CAN + CAN FD: received frame has 0-8 data bytes.
9-15 : CAN: received frame has 8 data bytes.
9-15 : CAN FD: received frame has 12/16/20/24/32/48/64 data bytes.
T1 Bits 15:0 - Reserved
T2 Bits 31:24 - DB3[7:0]: Data Byte 3
T2 Bits 23:16 - DB2[7:0]: Data Byte 2
T2 Bits 15:8 - DB1[7:0]: Data Byte 1
T2 Bits 7:0 - DB0[7:0]: Data Byte 0
T3 Bits 31:24 - DB7[7:0]: Data Byte 7
SAM D5x/E5x Family Data Sheet
CAN - Control Area Network
© 2019 Microchip Technology Inc.
Datasheet
DS60001507E-page 1305