PSoC 5LP：CAN错误管理

你好，团队，
对于我们的一个项目，我们使用CY8CKIT-1001 EVK板和CY8C5868LP035模块。这是我第一次使用CAN协议。因此，我们通过所有可用的文档（可以IP数据表，AN527 01）和视频。现在我们对PSoC设备中的CAN模块有些疑虑（如果他们是愚蠢的问题，我很抱歉）。
每当CAN总线上的RX节点接收到CAN帧，并确定在接收到的帧中存在错误（表单错误、填充错误、CRC错误）。他生成错误帧，以便Tx节点重新发送帧。因此，PSoC中的控制器是否能够发送错误帧或在PSoC上运行的固件必须以这样的方式编写，当接收到的中断产生时，RX节点将生成并写入错误帧到总线上。
类似地，TX节点将CAN总线写入CAN总线。但他不会收到任何ACK或错误（ACK错误，位错误）发生。所以他将重新发送CAN帧。但是，PSoC中的控制器能否重发，或者PSoC上运行的固件必须以这样的方式编写，每当生成T插中断时，ISR将重新发送该帧到总线上。
你能给我们建议其他有用的文件，可以编程模块。
谢谢和问候，
Abhishek Naik。



     以下为原文
  Hello Team,
          For one of our project, we are using Cy8ckit-001 EVK Board and CY8C5868-LP035 module. This is the first time I am working on CAN Protocol. So we went through all available documents(CAN IP datasheet, AN52701, ) and video. Now we have some doubts with respect to can module in PSoC device( I am sorry if they are silly questions).
          Whenever Rx node on CAN Bus receives a CAN frame and determines that there is an error(Form error, Stuff error, CRC error) in the received frame. He generates Error Frame so that Tx node will resend the frame. So will CAN controller in PSoC will send error frame or Firmware running on PSoC has to be written in such a way that when the received interrupt is generated Rx node will generate and write error frame on to the bus?
           Similarly, Tx node will write a CAN frame to the CAN Bus. But he will not receive any ack or an error(Ack error, bit error) occurs. So he will resend CAN Frame. But CAN controller in PSoC will resend or Firmware running on PSoC has to be written in such a way that whenever the Txed interrupt is generated ISR will resend the frame on to the bus?

           Can you suggest us any other documents that useful for programming CAN module.

Thanks and Regards,
Abhishek Naik.