39.6.2.5 Restricted Operation Mode

In Restricted Operation Mode the node is able to receive data and remote frames and to give acknowledge to valid frames, but it does not send data frames, remote frames, active error frames, or overload frames. In case of an error condition or overload condition, it does not send dominant bits, instead it waits for the occurrence of bus idle condition to resynchronize itself to the CAN communication. The error counters (ECR.REC, ECR.TEC) are frozen while Error Logging (ECR.CEL) is still incremented. The CPU can set the CAN into Restricted Operation mode by setting bit CCCR.ASM. The bit can only be set by the CPU when both CCCR.CCE and CCCR.INIT are set to ‘1’. The bit can be reset by the CPU at any time.

Restricted Operation Mode is automatically entered when the Tx Handler was not able to read data from the Message RAM in time. To leave Restricted Operation Mode, the CPU has to reset CCCR.ASM.

The Restricted Operation Mode can be used in applications that adapt themselves to different CAN bit rates. In this case the application tests different bit rates and leaves the Restricted Operation Mode after it has received a valid frame.