32196 datasheet(14/1044 Pages) RENESAS

14 / 1044 page

Contents-8

32192/32195/32196 Group Hardware Manual

Rev.1.10 REJ09B0123-0110 Apr.06.07

CHAPTER 13 CAN MODULE

13.1 Outline of the CAN Module --------------------------------------------------------------------------------------------- 13-2

13.2 CAN Module Related Registers --------------------------------------------------------------------------------------- 13-4

13.2.1

CAN Bus Mode Control Register ---------------------------------------------------------------------------- 13-23

13.2.2

CAN Control Registers ---------------------------------------------------------------------------------------- 13-26

13.2.3

CAN Status Registers ----------------------------------------------------------------------------------------- 13-29

13.2.4

CAN Configuration Registers --------------------------------------------------------------------------------- 13-32

13.2.5

CAN Timestamp Count Registers --------------------------------------------------------------------------- 13-35

13.2.6

CAN Error Count Registers ----------------------------------------------------------------------------------- 13-36

13.2.7

CAN Baud Rate Prescalers ---------------------------------------------------------------------------------- 13-37

13.2.8

CAN Interrupt Related Registers ---------------------------------------------------------------------------- 13-38

13.2.9

CAN Cause of Error Registers ------------------------------------------------------------------------------- 13-67

13.2.10

CAN Mode Registers ------------------------------------------------------------------------------------------- 13-69

13.2.11

CAN DMA Transfer Request Select Registers ----------------------------------------------------------- 13-70

13.2.12

CAN Message Slot Number Registers --------------------------------------------------------------------- 13-71

13.2.13

CAN Clock Select Registers --------------------------------------------------------------------------------- 13-72

13.2.14

CAN Frame Format Select Registers ---------------------------------------------------------------------- 13-74

13.2.15

CAN Mask Registers ------------------------------------------------------------------------------------------- 13-76

13.2.16

CAN Single-Shot Mode Control Registers ---------------------------------------------------------------- 13-80

13.2.17

CAN Message Slot Control Registers --------------------------------------------------------------------- 13-82

13.2.18

CAN Message Slots ------------------------------------------------------------------------------------------- 13-86

13.3 CAN Protocol -------------------------------------------------------------------------------------------------------------- 13-116

13.3.1

CAN Protocol Frames ----------------------------------------------------------------------------------------- 13-116

13.3.2

Data Formats during CAN Transmission/Reception ---------------------------------------------------- 13-117

13.3.3

CAN Controller Error States ---------------------------------------------------------------------------------- 13-118

13.4 Initializing the CAN Module -------------------------------------------------------------------------------------------- 13-119

13.4.1

Initializing the CAN Module ----------------------------------------------------------------------------------- 13-119

13.5 Transmitting Data Frames ---------------------------------------------------------------------------------------------- 13-122

13.5.1

Data Frame Transmit Procedure ---------------------------------------------------------------------------- 13-122

13.5.2

Data Frame Transmit Operation ----------------------------------------------------------------------------- 13-123

13.5.3

Transmit Abort Function --------------------------------------------------------------------------------------- 13-124

13.6 Receiving Data Frames ------------------------------------------------------------------------------------------------- 13-125

13.6.1

Data Frame Receive Procedure ----------------------------------------------------------------------------- 13-125

13.6.2

Data Frame Receive Operation ------------------------------------------------------------------------------ 13-126

13.6.3

Reading Out Received Data Frames ----------------------------------------------------------------------- 13-128

13.7 Transmitting Remote Frames ------------------------------------------------------------------------------------------ 13-130

13.7.1

Remote Frame Transmit Procedure ------------------------------------------------------------------------ 13-130

13.7.2

Remote Frame Transmit Operation ------------------------------------------------------------------------- 13-131

13.7.3

Reading Out Received Data Frames when Set for Remote Frame Transmission --------------- 13-133

13.8 Receiving Remote Frames --------------------------------------------------------------------------------------------- 13-135

13.8.1

Remote Frame Receive Procedure ------------------------------------------------------------------------- 13-135

13.8.2

Remote Frame Receive Operation -------------------------------------------------------------------------- 13-136

13.9 Notes on CAN Module -------------------------------------------------------------------------------------------------- 13-139

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