The supported mode transitions are shown in This Figure. The transitions are primarily controlled by the resets, the [CEN] bit, the MSR register settings, and a hardware wake-up mechanism.
To enter normal mode from configuration mode the following steps must occur.
•Clear can.MSR[LBACK, SNOOP, SLEEP] = 0.
•Set can.SRR[CEN] = 1.
To enter sleep mode from normal mode (interrupt generated), set can.MSR[SLEEP] = 1.
Events that cause the controller to exit sleep mode (interrupt generated) include the following steps.
•RX signal activity (hardware sets can.MSR[SLEEP] = 0).
•TXFIFO or TXHPB activity (hardware sets can.MSR[SLEEP] = 0).
•Software writes 0 to can.MSR[SLEEP].
Table: CAN Controller Modes of Operation defines the CAN controller modes of operation and corresponding control and status bits.