HD64F36034 datasheet(364/592 Pages) RENESAS

364 / 592 page

Section 15 Controller Area Network for Tiny (TinyCAN)

Rev. 4.00 Mar. 15, 2006 Page 332 of 556

REJ09B0026-0400

HRXD

[5] Overwrite DART bit for message 2

[4] Clear MBn bit in TXPR for message 1

[2] Set TXPR

[3] Load DART bit when message 1

is transferred to temporary buffer

HTXD

DART

TXPR.MBn

TXCR.MBn

ABACK.MBn

TCIRR.EMPI

TXACK.MBn

Transmission for message 1

cannot be cancelled by TXCR

Message 1 reception

Transmission for message 2

cannot be cancelled by TXCR

Internal arbitration for message 2 can be configurable

(Transmission settings can be changed by TXPR/TXCR)

SOF

Arbitration

Control

Data

CRC

ACK

EOF

Intermission

SOF

Arbitration

ACK Bit

Internal arbitration for message 3

can be configurable

[5] Internal arbitration for message 2

is determined after normal reception

has completed

If other Mailbox has a transmit

request, transmission is started at this

timing

[4] Set MBn in ABACK and EMPI in TCIRR1 for message 1

Message 1

[4] Arbitration loss

Message 2

Bus idle

Figure 15.10 Internal Arbitration at Reception Caused by CAN Bus Arbitration Loss

(DART = 1)

CAN Bus Error: Figures 15.11 to 15.13 show timings for internal arbitration caused by an error

on the CAN bus. Procedure and operation are as follows.

1. Write data of a transmit message to MCn0, MCn4 to MCn7, and MDn0 to MDn7 [n = 1 to 3]

before clearing the MBn bit in MBCR corresponding to the Mailbox of the transmit message to

0 (initial setting).

2. Set the MBn bit in TXPR to 1 (start condition issuance). Then, the start condition is generated.

3. The internal arbitration for message 1 is determined and the transmit message is transferred to

the temporary buffer. After that, even if a transmit request cancellation is issued to the message

being transmitted by the DART or MBn bit in TXCR, message 1 is transmitted continuously

unless the TinyCAN detects an arbitration loss or error on the CAN bus.

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