32186 datasheet(734/1032 Pages) RENESAS

734 / 1032 page

CAN MODULE

13-124

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

13.6 Receiving Data Frames

13.6.1 Data Frame Receive Procedure

The following describes the procedure for receiving data frames.

(1) Initializing CAN Message Slot Control Register

Initialize the CAN Message Slot Control Register for the slot to be received by writing H’00 to the register.

(2) Confirming that reception is idle

Read the CAN Message Slot Control Register that has been initialized and check the TRSTAT (Transmit/

Receive Status) bit to see that transmission and reception have stopped and remains idle. If this bit = "1," it

means that the CAN module is accessing the message slot. Therefore, wait until the bit is cleared to "0."

(3) Setting the receive ID

Set the desired receive ID in the message slot.

(4) Setting the Frame Format Select Register

Set the corresponding bit in the Frame Format Select Register to "0" if a standard frame is to be received, or

"1" if an extended frame is to be received.

(5) Setting CAN Message Slot Control Register

Write H’40 to the CAN Message Slot Control Register to set the RR (Receive Request) bit to "1."

32186 Datasheet(PDF) 734 Page - Renesas Technology Corp