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Communication errors when using CAN communication in STM32


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I am using CAN communication recently, and I don’t understand the part of error management and error frames.
The manual says that error management is completely handled by the hardware. If an error occurs, the error frame is automatically sent by the hardware?
What about the reception of error frames? Is it also automatically received and processed by the hardware?

There is also an error interrupt in STM32. Does it trigger an interrupt as long as an error is detected on the bus? Or does it mean that only errors caused by local transmissions will trigger interrupts?

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