If CAN errors happen when the CAN module receives a message the receiver message object interrupt happens?
My interrupt must be like
__arm void CANISRHandler (void)
{
volatile unsigned int status = AT91F_CAN_GetStatus(AT91C_BASE_CAN);
if (status & AT91C_CAN_WAKEUP)
{
... //do something when CAN_WAKEUP happens
}else
if (status & (AT91C_CAN_CERR | AT91C_CAN_SERR | AT91C_CAN_AERR | AT91C_CAN_FERR | AT91C_CAN_BERR))
{
... //do something when CAN_ERROR happens
}else
{
... //do something when CAN_ERROR is absent
}
}
OR like (as all examples)
__arm void CANISRHandler (void)
{
volatile unsigned int status = AT91F_CAN_GetStatus(AT91C_BASE_CAN);
if (status & AT91C_CAN_WAKEUP)
{
... //do something when CAN_WAKEUP happens
}else
if (status & (0x0000FFFF))
{
... //do something when CAN_ERROR is absent
}
if (status & (AT91C_CAN_CERR | AT91C_CAN_SERR | AT91C_CAN_AERR | AT91C_CAN_FERR | AT91C_CAN_BERR))
{
... //do something when CAN_ERROR happens
}
}

There is only one CAN interrupt attached to the AIC. You can tell what triggered the interrupt by inspecting the status register. Remember that some bits in the status are cleared upon reading.