
CHAPTER 19 CAN CONTROLLER
User’s Manual U16541EJ4V0UD
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19.1.2 Overview of functions
Table 19-1 presents an overview of the CAN controller functions.
Table 19-1. Overview of Functions
Function
Details
Protocol
CAN protocol ISO 11898 (standard and extended frame transmission/reception)
Baud rate
Maximum 1 Mbps (CAN clock input
≥ 8 MHz)
Data storage
Storing messages in the CAN RAM
Number of messages
32 message buffers/channels
Each message buffer can be set to be either a transmit message buffer or a receive
message buffer.
Message reception
Unique ID can be set to each message buffer.
Mask setting of four patterns is possible for each channel.
A receive completion interrupt is generated each time a message is received and stored in
a message buffer.
Two or more receive message buffers can be used as a FIFO receive buffer (multi-buffer
receive block function).
Receive history list function
Message transmission
Unique ID can be set to each message buffer.
Transmit completion interrupt for each message buffer
Message buffer numbers 0 to 7 specified as transmit message buffers can be used for
automatic block transfer. Message transmission interval is programmable (automatic
block transmission function (hereafter referred to as “ABT”)).
Transmission history list function
Remote frame processing
Remote frame processing by transmit message buffer
Time stamp function
The time stamp function can be set for a receive message when a 16-bit timer is used in
combination.
The time stamp capture trigger can be selected (SOF or EOF in a CAN message frame
can be detected).
The time stamp function can be set for a transmit message.
Specific bytes in data field can be replaced with the capture time stamp
Note.
Diagnostic function
Readable error counters
“Valid protocol operation flag” for verification of bus connections
Receive-only mode
Single-shot mode
CAN protocol error type decoding
Self-test mode
Forced release from bus-off state
Default mode can be set while bus is off, so that bus can be forcibly released from bus-off
state.
Power save mode
CAN sleep mode (can be woken up by CAN bus)
CAN stop mode (cannot be woken up by CAN bus)
Note
Valid only for the macro with advanced time stamp function