This is the CAN Application Programming Interface for the devices equipped with the RCAN2 peripheral type. The other families have a very similar API. The orange setup functions are for initializing the CAN peripheral. The blue functions are used to set up a mailbox to transmit, as well as for checking whether or not it has been sent. The green functions are used to set up a mailbox to receive and to retrieve a message from it. The red functions are used to check for errors. Selection of these functions will be discussed. Note that it is possible for the user to change the behavior of an API function since the source code is provided.