32186 datasheet(744/1032 Pages) RENESAS

744 / 1032 page

CAN MODULE

13-134

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

13.8 Receiving Remote Frames

13.8.1 Remote Frame Receive Procedure

The following describes the procedure for receiving remote 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 reception has 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 CAN Frame Format Select Register

Set the corresponding bit in the Frame Format Select Register to "0" if a standard frame is to be re-

ceived, or "1" if an extended frame is to be received.

(5) Setting CAN Message Slot Control Register

1) When automatic response (data frame transmission) for remote frame reception is desired

Write H’60 to the CAN Message Slot Control Register to set the RR (Receive Request) bit and RM

(Remote) bit to "1."

2) When automatic response (data frame transmission) for remote frame reception is to be disabled

Write H’70 to the CAN Message Slot Control Register to set the RR (Receive Request) bit, RM

(Remote) bit and RL (Automatic Response Inhibit) bit to "1."

Note: • During BasicCAN mode, slots 30 and 31, although capable of receiving remote frames,

cannot automatically respond to remote frame reception.

32186 Datasheet(PDF) 744 Page - Renesas Technology Corp