13.2.6 CAN Error Count Registers .............................................................. 13-26
13.2.7 CAN Baud Rate Prescalers .............................................................. 13-27
13.2.8 CAN Interrupt Related Registers ...................................................... 13-28
13.2.9 CAN Mask Registers ........................................................................ 13-39
13.2.10 CAN Message Slot Control Registers ............................................ 13-43
13.2.11 CAN Message Slots ....................................................................... 13-48
13.3 CAN Protocol ....................................................................................................... 13-78
13.3.1 CAN Protocol Frames ...................................................................... 13-78
13.4 Initialization of the CAN Module ........................................................................... 13-81
13.4.1 Initializing the CAN Module .............................................................. 13-81
13.4.2 CAN Timing ...................................................................................... 13-84
13.5 Transmitting Data Frames ................................................................................... 13-85
13.5.1 Data Frame Transmission Procedure .............................................. 13-85
13.5.2 Data Frame Transmit Operation ....................................................... 13-87
13.5.3 Transmit Abort Function ................................................................... 13-88
13.6 Receiving Data Frames ....................................................................................... 13-89
13.6.1 Data Frame Reception Procedure .................................................... 13-89
13.6.2 Data Frame Receive Operation ........................................................ 13-91
13.6.3 Reading Out a Received Data Frame .............................................. 13-93
13.7 Transmitting Remote Frames .............................................................................. 13-95
13.7.1 Remote Frame Transmission Procedure ......................................... 13-95
13.7.2 Remote Frame Transmit Operation .................................................. 13-97
13.7.3 Reading Out a Received Data Frame When Set for Remote Frame Transmission ... 13-100
13.8 Receiving Remote Frames .................................................................................. 13-102
13.8.1 Remote Frame Reception Procedure ............................................... 13-102
13.8.2 Remote Frame Receive Operation ................................................... 13-104
CHAPTER 14 REAL-TIME DEBUGGER (RTD)
14.1 Outline of the Real-Time Debugger (RTD) .......................................................... 14-2
14.2 Pin Function of the RTD ...................................................................................... 14-3
14.3 Functional Description of the RTD ....................................................................... 14-4
14.3.1 Outline of RTD Operation ................................................................. 14-4
14.3.2 Operation of RDR (Real-time RAM Content Output) ........................ 14-5
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