32186 datasheet(745/1032 Pages) RENESAS

745 / 1032 page

CAN MODULE

13-135

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

Figure 13.8.1 Remote Frame Receive Procedure

13.8.2 Remote Frame Receive Operation

The following describes remote frame receive operation. The operations described below are automatically

performed in hardware.

(1) Setting RA (Remote Active) bit

The RA (Remote Active) bit indicating that the corresponding slot is to handle remote frames is set to "1" at

the same time H’60 (Receive Request, Remote, Automatic Response Enable) or H’70 (Receive Request,

Remote, Automatic Response Disable) is written to the CAN Message Slot Control Register.

(2) 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 remote frame reception.

[Conditions]

• The received frame is a remote 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.

13.8 Receiving Remote Frames

Remote 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'60

(receive request, remote and automatic response enable)

Write H'70

(receive request, remote and automatic response disable)

Read CAN Message Slot

Control Register

TRSTAT bit = 0

YES

Confirm that transmission

and reception are idle

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