32186 datasheet(746/1032 Pages) RENESAS

746 / 1032 page

CAN MODULE

13-136

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

13.8 Receiving Remote Frames

(3) When the receive conditions are met

When the receive conditions in (2) above are met, the CAN module sets the CAN Message Slot Control

the same time writing the received data to the message slot. In addition, a timestamp count value at which

the message was received is written to the CAN Message Slot Timestamp (C0MSLnTSP, C1MSLnTSP)

along with the received data. When the CAN module finished writing to the message slot, it sets the CAN

Slot Interrupt Request Status bit to "1." If the interrupt request for the slot has been enabled, the CAN

module generates an interrupt request.

Notes: • The ID field and DLC value are written to the message slot.

• An undefined value is written to the extended ID area when receiving standard format frames.

• The data field is not written to.

• The RA and TRFIN bits are cleared to "0" after writing the received remote frame data.

(4) When the receive conditions are not met

The received data is discarded, and the CAN module waits for the next receive frame. No data is written to

the message slot.

(5) Operation after receiving a remote frame

The operation performed after receiving a remote frame differs depending on how automatic response is set.

1) When automatic response is disabled

The slot which has had reception completed goes to an inactive state and remains inactive (neither

transmit nor receive) until it is newly set in software.

2) When automatic response is enabled

After receiving a remote frame, the slot automatically changes to a data frame transmit slot and

performs the transmit operation described below. In this case, the transmitted data conforms to the ID

and DLC of the received remote frame.

• Selecting a transmit frame

The CAN module checks slots which have transmit requests (including remote frame transmit slots)

every intermission to determine the frame to transmit. If two or more transmit slots exist, frames are

transmitted in order of slot numbers beginning with the smallest.

• Transmitting a data frame

After determining the transmit slot, the CAN module sets the corresponding CAN Message Slot Control

• If lost in CAN bus arbitration or a CAN bus error occurs

If the CAN module lost in CAN bus arbitration or a CAN bus error occurs in the middle of transmission,

the CAN module clears the CAN Message Slot Control Register’s TRSTAT (Transmit/Receive Status)

bit to "0." If the CAN module requested a transmit abort, the transmit abort is accepted and the

message slot is enabled for write.

• 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.

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