32186 datasheet(733/1032 Pages) RENESAS

733 / 1032 page

CAN MODULE

13-123

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

13.5 Transmitting Data Frames

(4) Completion of data frame transmission

When data frame transmission has finished, the CAN Message Slot Control Register’s TRFIN (Transmit/

Receive Finished) bit and the CAN Slot Interrupt Request Status Register are set to "1." Also, a timestamp

count value at which transmission has finished is written to the CAN Message Slot Timestamp

(C0MSLnTSP, C1MSLnTSP), and the transmit operation is thereby completed.

If the CAN slot interrupt request has been enabled, an interrupt request is generated at completion of

transmit operation. The slot which has had transmission completed goes to an inactive state and remains

inactive (neither transmit nor receive) until it is newly set in software.

B'1000 0010

B'0000 0001

(Note 1)

B'1000 0001

B'0000 0000

(Note 1)

B'1000 0000

Write H'80

Transmission aborted

Transmit request

accepted

Note 1: When in this state, data can be written to the message slot.

Transmission

aborted

Transmit

request

accepted

Transmission

aborted

Transmission completed

Transmission

aborted

Transmission

completed

Wait for transmission

B'0000 0010

Lost in CAN bus arbitration

or a CAN bus error occurs

Lost

CAN

bus

arbitration

a CAN

bus

rror

ccurs

b7 (b15)

(b8)

TRSTAT TRFIN

00000000

CAN message slot control register bit allocation

Figure 13.5.2 Operation of CAN Message Slot Control Register during Data Frame Transmission

13.5.3 Transmit Abort Function

The transmit abort function is used to cancel a transmit request that has once been set. This is accomplished

by writing H’0F to the CAN Message Slot Control Register for the slot to be canceled. When transmit abort is

accepted, the CAN module clears the CAN Message Slot Control Register’s TRSTAT (Transmit/Receive Sta-

tus) bit to "0," allowing for data to be written to the message slot. The following shows the conditions under

which transmit abort is accepted.

[Conditions]

• When the target message is waiting for transmission

• When a CAN bus error occurs during transmission

• When lost in CAN bus arbitration

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