
User’s Manual U16541EJ4V0UD
16
18.4.1
Interrupt control block ..............................................................................................................678
18.4.2
Example of identifying interrupt................................................................................................680
18.4.3
Interrupt source list ..................................................................................................................683
18.4.4
Communication error source processing list ............................................................................684
18.5
Interrupt Request Signal Generation Timing and Main CPU Processing....................... 686
18.5.1
Master transmission.................................................................................................................686
18.5.2
Master reception ......................................................................................................................688
18.5.3
Slave transmission...................................................................................................................690
18.5.4
Slave reception ........................................................................................................................692
18.5.5
Interval of occurrence of interrupt request signal for IEBus control..........................................694
CHAPTER 19 CAN CONTROLLER ..................................................................................................... 698
19.1
Overview................................................................................................................................ 698
19.1.1
Features...................................................................................................................................698
19.1.2
Overview of functions ..............................................................................................................699
19.1.3
Configuration ...........................................................................................................................700
19.2
CAN Protocol ........................................................................................................................ 701
19.2.1
Frame format ...........................................................................................................................701
19.2.2
Frame types.............................................................................................................................702
19.2.3
Data frame and remote frame..................................................................................................702
19.2.4
Error frame...............................................................................................................................710
19.2.5
Overload frame ........................................................................................................................711
19.3
Functions............................................................................................................................... 712
19.3.1
Determining bus priority ...........................................................................................................712
19.3.2
Bit stuffing ................................................................................................................................712
19.3.3
Multi masters ...........................................................................................................................712
19.3.4
Multi cast..................................................................................................................................712
19.3.5
CAN sleep mode/CAN stop mode function ..............................................................................713
19.3.6
Error control function ...............................................................................................................713
19.3.7
Baud rate control function ........................................................................................................718
19.4
Connection with Target System.......................................................................................... 722
19.5
Internal Registers of CAN Controller.................................................................................. 723
19.5.1
CAN controller configuration ....................................................................................................723
19.5.2
Register access type ...............................................................................................................724
19.5.3
Register bit configuration .........................................................................................................741
19.6
Registers ............................................................................................................................... 745
19.7
Bit Set/Clear Function .......................................................................................................... 779
19.8
CAN Controller Initialization................................................................................................ 781
19.8.1
Initialization of CAN module.....................................................................................................781
19.8.2
Initialization of message buffer ................................................................................................781
19.8.3
Redefinition of message buffer ................................................................................................781
19.8.4
Transition from initialization mode to operation mode.............................................................. 782
19.8.5
Resetting error counter C0ERC of CAN module ......................................................................783
19.9
Message Reception .............................................................................................................. 784
19.9.1
Message reception ..................................................................................................................784
19.9.2
Receive history list function .....................................................................................................785
19.9.3
Mask function...........................................................................................................................787
19.9.4
Multi buffer receive block function............................................................................................ 789