CAN baudrate Change in running Condition

Question

Hii 
 I have a doubt i am making a can sniffing tool i need to change CAN baudrate in mid of the running condition, did there is a way to change the baudrate in mid of the ruuning condition. first when the MCU is running then the baaudrate is default like which is availble in the CAN stacks. 
 
 Thanks & Regards, 
 Nikhil

AZ [Renesas] · Accepted Answer

The BCR Bit Configuration Register controls the CAN bit rate. 
 The BCR register is set initially before exiting CAN reset mode to enter any other modes. 
 After the setting is made once, this register can be written to in CAN reset or CAN halt mode. It cannot be changed while the channel is in CAN operation mode.

JimB · Answer

Most of the CAN peripheral registers cannot be modified unless the CAN peripheral is disabled. Changing baud rate involves clock dividers, which when switching would induce noise / bit error resulting in a bus-off state. As such it would be necessary to first disable the CAN before changing the baud rate.

CAN baudrate Change in running Condition

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