This application note describes CAN protocol driver software routines for the members of the Siemens 16-bit microcontroller family C166 which are equipped with an on-chip CAN module (e.g. C167CR, C164CI). Whilst every effort has been made to ensure the accuracy of information contained in this application note, the authors cannot be held responsible for any consequences arising from its use. Please report comments, suggestions for improvement etc. t For further information concerning the on-chip CAN module on the C166 devices or the C166 microcontroller itself, please refer to the document “Description of the on-chip CAN module” and the respective derivative’s User’s Manual.