6.3 Return of receiver from Bus Integration state after Protocol Exception Event

In case a started transmission is aborted shortly before the transmission of the FDF bit, a receiver will detect a recessive FDF bit followed by a recessive res bit. In this case receiving MCANs with Protocol Exception Event Handling enabled will detect a protocol exception event and will enter Bus Integration state. These receivers are expected to leave Bus Integration state after 11 consecutive recessive bits.

Instead of starting to count 11 recessive bits directly after entering Bus Integration state, the MCAN needs to see at least one dominant bit.

Work around

Disable Protocol Exception Event Handling (MCAN_CCCR.PXHD = ’1’).