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TMS320F2800137: CAN commutaion

Part Number: TMS320F2800137

Tool/software:

hi expert

i see in the datasheet as follows:

Messages can be updated or set to "not valid" at any time, even if a requested transmission is still pending. However, the data bytes are discarded if a message is updated before a pending transmission has started

how to discard the pending message?

can you give a methord?