32170 datasheet(19/881 Pages) RENESAS

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13.2.4 CAN Configuration Register ................................................................. 13-16

13.2.5 CAN Time Stamp Count Register ......................................................... 13-19

13.2.6 CAN Error Count Registers .................................................................. 13-20

13.2.7 CAN Baud Rate Prescaler .................................................................... 13-21

13.2.8 CAN Interrupt Related Registers .......................................................... 13-22

13.2.9 CAN Mask Registers ............................................................................ 13-30

13.2.10 CAN Message Slot Control Registers ................................................. 13-34

13.2.11 CAN Message Slots ............................................................................ 13-38

13.3 CAN Protocol ............................................................................................... 13-53

13.3.1 CAN Protocol Frame ............................................................................. 13-53

13.4 Initializing the CAN Module ........................................................................ 13-56

13.4.1 Initialization of the CAN Module ............................................................ 13-56

13.4.2 CAN Timing .......................................................................................... 13-59

13.5 Transmitting Data Frames .......................................................................... 13-60

13.5.1 Data Frame Transmit Procedure .......................................................... 13-60

13.5.2 Data Frame Transmit Operation ........................................................... 13-62

13.5.3 Transmit Abort Function ....................................................................... 13-63

13.6 Receiving Data Frames .............................................................................. 13-64

13.6.1 Data Frame Receive Procedure ........................................................... 13-64

13.6.2 Data Frame Receive Operation ............................................................ 13-66

13.6.3 Reading Out Received Data Frames .................................................... 13-68

13.7 Transmitting Remote Frames .................................................................... 13-70

13.7.1 Remote Frame Transmit Procedure ..................................................... 13-70

13.7.2 Remote Frame Transmit Operation ...................................................... 13-72

13.7.3 Reading Out Received Data Frames when Set for Remote Frame Transmission .. 13-75

13.8 Receiving Remote Frames ......................................................................... 13-77

13.8.1 Remote Frame Receive Procedure ...................................................... 13-77

13.8.2 Remote Frame Receive Operation ....................................................... 13-79

13.9 Precautions about CAN Module ................................................................ 13-82

CHAPTER 14 REAL-TIME DEBUGGER (RTD)

32170 Datasheet(PDF) 19 Page - Renesas Technology Corp