Specifications

Introduction
10-2
10.1 Introduction
The CAN peripheral supports the following features:
- Full implementation of CAN protocol, version 2.0B
J Standard and extended identifiers
J Data and remote frames
- Six mailboxes for objects of 0- to 8-bytes data length
J Two receive mailboxes (MBOX0,1), two transmit mailboxes
(MBOX4,5)
J Two configurable transmit/receive mailboxes (MBOX2,3)
- Local acceptance mask registers (LAMn) for mailboxes 0 and 1 and mail-
boxes 2 and 3
- Programmable bit rate
- Programmable interrupt scheme
- Programmable wake up on bus activity
- Automatic reply to a remote request
- Automatic re-transmission in case of error or loss of arbitration
- Bus failure diagnostic
J Bus on/off
J Error passive/active
J Bus error warning
J Bus stuck dominant
J Frame error report
J Readable error counter
- Self-Test Mode
J The CAN peripheral operates in a loop back mode
J Receives its own transmitted message and generates its own ac-
knowledge signal
- Two-Pin Communication
J The CAN module uses two pins for communication, CANTX and
CANRX
J These two pins are connected to a CAN transceiver chip, which in turn
is connected to a CAN bus