
ML9620 User’s Manual
Contents
Contents – 1
Chapter 1
Overview
1.1
Overview..................................................................................................................................................... 1-1
1.2
Features....................................................................................................................................................... 1-1
1.3
Block Diagram............................................................................................................................................ 1-2
1.4
Pin Configuration........................................................................................................................................ 1-3
1.5
Configuration Example............................................................................................................................... 1-3
1.6
Pin Description ........................................................................................................................................... 1-4
1.7
Registers ..................................................................................................................................................... 1-6
Chapter 2
Register Descriptions
2.1
Hardware Reset Description ....................................................................................................................... 2-1
2.2
CAN Protocol Related Registers ................................................................................................................ 2-1
2.2.1
CAN Control register (CANCONT:0x00) ............................................................................................ 2-1
2.2.2
CAN Status register (CANSTAT:0x02)................................................................................................ 2-3
2.2.2.1
Status Interrupts............................................................................................................................... 2-4
2.2.3
CAN Transmit Error Counter register (CANTXERRC:0x04) .............................................................. 2-5
2.2.4
CAN Receive Error Counter register (CANRXERRC:0x05) ............................................................... 2-5
2.2.5
CAN Bit Timing 1 register (CANBITT1:0x06).................................................................................... 2-6
2.2.6
CAN Bit Timing 2 register (CANBITT2:0x07).................................................................................... 2-6
2.2.7
CAN BPR Extension register (CANBPRE:0x0C) ................................................................................ 2-7
2.2.8
CAN Standby register (CANSTBY:0xC0) ........................................................................................... 2-8
2.2.9
CAN Optional register (CANOPT:0x0A) ............................................................................................. 2-9
2.3
Message Interface Register Sets ............................................................................................................... 2-10
2.3.1
IFm Command Request Registers (IFmCREQ:0x10, 0x40) ............................................................... 2-11
2.3.2
IFm Busy registers (IFmBUSY:0x11, 0x41) ...................................................................................... 2-11
2.3.3
IFm Command Mask registers (IFmCMASK:0x12, 0x42)................................................................. 2-12
2.3.3.1
IFm Command Mask registers : at Write....................................................................................... 2-13
2.3.3.2
IFm Command Mask registers : at Read ....................................................................................... 2-14
2.3.4
IFm Message Buffer registers ............................................................................................................. 2-15
2.3.4.1
IFm Mask n registers (IFmMASKn:0x14 - 0x17, 0x44 - 0x47) .................................................... 2-15
2.3.4.2
IFm Identifier n registers (IFmIDn:0x18 - 0x1B, 0x48 - 0x4B) .................................................... 2-15
2.3.4.3
IFm Message Control 1 registers (IFmMCONT1:0x1C, 0x4C) .................................................... 2-16
2.3.4.4
IFm Message Control 2 registers (IFmMCONT2:0x1D, 0x4D).................................................... 2-16
2.3.4.5
IFm Data An / Bn registers (IFmDATAAn, IFmDATABn:0x1E - 0x25, 0x4E - 0x55) ............... 2-16
2.3.5
Message Object in the Message Memory............................................................................................ 2-17
2.4
Message Handler registers ........................................................................................................................ 2-20
2.4.1
CAN Interrupt n registers (CANINTn:0x08, 0x09) ............................................................................2-20
2.4.2
CAN Transmission Request n registers (CANTREQn:0x80 - 0x83) .................................................. 2-21
2.4.3
CAN New Data n registers (CANNDATAn:0x90 - 0x93).................................................................. 2-21
2.4.4
CAN Interrupt Pending n registers (CANIPENDn:0xA0 - 0xA3) ...................................................... 2-22
2.4.5
CAN Message Valid n registers (CANMVALn:0xB0 - 0xB3)........................................................... 2-22
Chapter 3
Operational Description
3.1
Operational Procedure ................................................................................................................................ 3-1
3.1.1
Software Initialization ........................................................................................................................... 3-1
3.1.2
CAN Message Transfer......................................................................................................................... 3-1
3.1.3
DAR (Disabled Automatic Retransmission) ......................................................................................... 3-2
3.2
Management of Message Objects ............................................................................................................... 3-2
3.3
Message Handler State Machine................................................................................................................. 3-3
3.3.1
Data Transfer from / to Message RAM................................................................................................. 3-3
3.3.2
Transmission of Messages .................................................................................................................... 3-3
3.3.3
Acceptance Filtering of Received Messages......................................................................................... 3-4
3.3.3.1
Reception of Data Frame ................................................................................................................. 3-4
3.3.3.2
Reception of Remote Frame ............................................................................................................ 3-4
3.3.4
Receive / Transmit Priority ................................................................................................................... 3-4
3.4
Configuration of a Transmit Object ............................................................................................................ 3-5