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TM4C1290NCPDT: CAN TM4C129x transmit data during device recieve data ?

Part Number: TM4C1290NCPDT

Hi, Everyone

I have a question about CAN of TM4C1290.

I understand CAN is Half-Duplex.
Can TM4C1290 transmit data during device recieve data ?

If yes, Can you tell me register for this setup ?

Best Regards
Hiroyasu