32186 datasheet(735/1032 Pages) RENESAS

735 / 1032 page

CAN MODULE

13-125

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

13.6 Receiving Data Frames

Data frame receive procedure

Initialize CAN Message Slot

Control Register

Set ID in the CAN message slot

Set the CAN Frame Format

Select Register

Set CAN Message Slot

Control Register

End of setting

Write H'00

Select Standard ID or extended ID

Write H'40 (receive request)

Read CAN Message Slot

Control Register

TRSTAT bit = 0

YES

Confirm that transmission

and reception are idle

Figure 13.6.1 Data Frame Receive Procedure

13.6.2 Data Frame Receive Operation

The following describes data frame receive operation. The operations described below are automatically per-

formed in hardware.

(1) Acceptance filtering

When the CAN module finished receiving data, it starts searching for the slot that satisfies the conditions for

receiving the received message, sequentially from slot 0 (up to slot 31). The following shows receive condi-

tions for the slots that have been set for data frame reception.

[Conditions]

• The received frame is a data frame.

• The receive ID and the slot ID are identical, assuming the ID Mask Register bits set to "0" are “Don’t care.”

• The standard and extended frame types are the same.

Note: • In BasicCAN mode, slots 30 and 31 while being set for data frame reception can also

receive remote frames.

32186 Datasheet(PDF) 735 Page - Renesas Technology Corp