CAN

Transmission
- 3 transmit mailboxes
- priority
- time stamp on SOF transmission

Reception
- 2 receive FIFO, 3 stages
- 28 filter banks shared between CAN1 CAN2
- Identifier list
- can config fifo overun
- time stamp on SOF reception

* Time-triggered communication option

Management
- Maskable interrupt

CAN1 - master for managing comm with slave and 512b SRAM
CAN2 - slave, no direct access to SRAM

transmission scheduler -> 2 transmit mailboxes

bxcAN -> wait idle -> synchronize -> enter normal mode

Operating Modes
- Initialization mode
- Normal mode
- Sleep mode

dominant '0'
recessive '1'

Frame Types
- data frame
- remote frame - request data frame of same identifier
- error frame
- overload frame - extra delay between data or remote

Data Frame
start of frame - arbitration field - control field - data field - CRC field - ACK
field - end of frame - interframe space