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For ECAN it was pretty simple to access CAN registers from the MCU-side: just read/write to the correct register address. However, this technique could be dangerous, if the developer does not care about potential access conflicts between the CAN-Communication Controller and the MCU.
For DCAN, the situation is different. Here, all accesses from MCU to CAN - registers are performed via interface registers IFx. A hardware logic takes care that potential collisions between CAN-CC and the new data/command in IFx are resolved.
