
User’s Manual U17553EJ4V0UD
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14.2 Configurations of Serial Interface UART60 and UART61 ..................................................... 311
14.3 Registers Controlling Serial Interfaces UART60 and UART61 ............................................ 315
14.4 Operations of Serial Interface UART60 and UART61............................................................ 334
14.4.1 Operation stop mode......................................................................................................................334
14.4.2 Asynchronous serial interface (UART) mode .................................................................................335
14.4.3 Dedicated baud rate generator.......................................................................................................350
CHAPTER 15 SERIAL INTERFACES CSI10 AND CSI11 ................................................................ 356
15.1 Functions of Serial Interfaces CSI10 and CSI11 ................................................................... 356
15.2 Configuration of Serial Interfaces CSI10 and CSI11 ............................................................. 357
15.3 Registers Controlling Serial Interfaces CSI10 and CSI11 .................................................... 359
15.4 Operation of Serial Interfaces CSI10 and CSI11.................................................................... 364
15.4.1 Operation stop mode......................................................................................................................364
15.4.2 3-wire serial I/O mode ....................................................................................................................365
CHAPTER 16 CAN CONTROLLER ..................................................................................................... 377
16.1 Outline Description .................................................................................................................. 377
16.1.1 Features .........................................................................................................................................377
16.1.2 Overview of functions .....................................................................................................................378
16.1.3 Configuration ..................................................................................................................................379
16.2 CAN Protocol ............................................................................................................................ 380
16.2.1 Frame format..................................................................................................................................380
16.2.2 Frame types ...................................................................................................................................381
16.2.3 Data frame and remote frame ........................................................................................................381
16.2.4 Error frame .....................................................................................................................................389
16.2.5 Overload frame...............................................................................................................................390
16.3 Functions .................................................................................................................................. 391
16.3.1 Determining bus priority .................................................................................................................391
16.3.2 Bit stuffing ......................................................................................................................................391
16.3.3 Multi masters ..................................................................................................................................391
16.3.4 Multi cast ........................................................................................................................................391
16.3.5 CAN sleep mode/CAN stop mode function ....................................................................................391
16.3.6 Error control function ......................................................................................................................392
16.3.7 Baud rate control function ..............................................................................................................398
16.4 Connection with Target System.............................................................................................. 402
16.5 Internal Registers of CAN Controller...................................................................................... 403
16.5.1 CAN controller configuration...........................................................................................................403
16.5.2 Register access type ......................................................................................................................404
16.5.3 Register bit configuration................................................................................................................413
16.6 Bit Set/Clear Function .............................................................................................................. 417
16.7 Control Registers ..................................................................................................................... 419
16.8 CAN Controller Initialization.................................................................................................... 454
16.8.1 Initialization of CAN module ...........................................................................................................454
16.8.2 Initialization of message buffer .......................................................................................................454
16.8.3 Redefinition of message buffer.......................................................................................................454
16.8.4 Transition from initialization mode to operation mode ....................................................................455
16.8.5 Resetting error counter C0ERC of CAN module ............................................................................456
16.9 Message Reception .................................................................................................................. 457