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13.2.8 CAN Interrupt Related Registers .......................................................... 13-22
13.2.9 CAN Mask Registers ............................................................................ 13-30
13.2.10 CAN Message Slot Control Registers ................................................. 13-34
13.2.11 CAN Message Slots ............................................................................ 13-38
13.3 CAN Protocol ............................................................................................... 13-53
13.3.1 CAN Protocol Frame ............................................................................. 13-53
13.4 Initializing the CAN Module ........................................................................ 13-56
13.4.1 Initialization of the CAN Module ............................................................ 13-56
13.5 Transmitting Data Frames .......................................................................... 13-59
13.5.1 Data Frame Transmit Procedure .......................................................... 13-59
13.5.2 Data Frame Transmit Operation ........................................................... 13-61
13.5.3 Transmit Abort Function ....................................................................... 13-62
13.6 Receiving Data Frames .............................................................................. 13-63
13.6.1 Data Frame Receive Procedure ........................................................... 13-63
13.6.2 Data Frame Receive Operation ............................................................ 13-65
13.6.3 Reading Out Received Data Frames .................................................... 13-67
13.7 Transmitting Remote Frames .................................................................... 13-69
13.7.1 Remote Frame Transmit Procedure ..................................................... 13-69
13.7.2 Remote Frame Transmit Operation ...................................................... 13-71
13.8 Receiving Remote Frames ......................................................................... 13-76
13.8.1 Remote Frame Receive Procedure ...................................................... 13-76
13.8.2 Remote Frame Receive Operation ....................................................... 13-78
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
14.3.3 Operation of WRR (RAM Content Forcible Rewrite) .............................. 14-7
14.3.4 Operation of VER (Continuous Monitor) ................................................. 14-9
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