
User’s Manual U17790EJ2V0UD
15
18.5
Interrupt Request Signal Generation Timing and Main CPU Processing........................701
18.5.1
Master transmission ................................................................................................................ 701
18.5.2
Master reception...................................................................................................................... 703
18.5.3
Slave transmission .................................................................................................................. 705
18.5.4
Slave reception........................................................................................................................ 707
18.5.5
Interval of occurrence of interrupt request signal for IEBus control ......................................... 709
CHAPTER 19 CAN CONTROLLER ......................................................................................................713
19.1
Overview.................................................................................................................................713
19.1.1
Features .................................................................................................................................. 713
19.1.2
Overview of functions .............................................................................................................. 714
19.1.3
Configuration ........................................................................................................................... 715
19.2
CAN Protocol .........................................................................................................................716
19.2.1
Frame format ........................................................................................................................... 716
19.2.2
Frame types ............................................................................................................................ 717
19.2.3
Data frame and remote frame.................................................................................................. 717
19.2.4
Error frame .............................................................................................................................. 725
19.2.5
Overload frame........................................................................................................................ 726
19.3
Functions ...............................................................................................................................727
19.3.1
Determining bus priority........................................................................................................... 727
19.3.2
Bit stuffing................................................................................................................................ 727
19.3.3
Multi masters ........................................................................................................................... 727
19.3.4
Multi cast ................................................................................................................................. 727
19.3.5
CAN sleep mode/CAN stop mode function.............................................................................. 728
19.3.6
Error control function ............................................................................................................... 728
19.3.7
Baud rate control function........................................................................................................ 735
19.4
Connection with Target System ..........................................................................................739
19.5
Internal Registers of CAN Controller ..................................................................................740
19.5.1
CAN controller configuration.................................................................................................... 740
19.5.2
Register access type ............................................................................................................... 741
19.5.3
Register bit configuration ......................................................................................................... 775
19.6
Registers ................................................................................................................................779
19.7
Bit Set/Clear Function...........................................................................................................814
19.8
CAN Controller Initialization ................................................................................................816
19.8.1
Initialization of CAN module..................................................................................................... 816
19.8.2
Initialization of message buffer ................................................................................................ 816
19.8.3
Redefinition of message buffer ................................................................................................ 816
19.8.4
Transition from initialization mode to operation mode.............................................................. 817
19.8.5
Resetting error counter CnERC of CAN module...................................................................... 818
19.9
Message Reception...............................................................................................................819
19.9.1
Message reception .................................................................................................................. 819
19.9.2
Receive history list function ..................................................................................................... 820
19.9.3
Mask function .......................................................................................................................... 822
19.9.4
Multi buffer receive block function ........................................................................................... 824
19.9.5
Remote frame reception .......................................................................................................... 825
19.10 Message Transmission.........................................................................................................826
19.10.1 Message transmission ............................................................................................................. 826
19.10.2 Transmit history list function .................................................................................................... 828