TMPR3916 datasheet(151/225 Pages) TOSHIBA

151 / 225 page

Chapter 7 CAN Module (TXCAN)

Preliminary

7-30

7.5

Handling of Message-Objects

In the following sections, there are suggestions how to handle message objects.

7.5.1

Receiving Messages

The following flowchart shows the handling of receive objects using receive interrupt IRQ0.

Setup a mailbox for

message reception

Configure mailbox for

reception:

set MDn to '1'

Setup mailbox identifier

and IDE bit for standard

or extended ID

Enable mailbox:

set MCn to '1'

Enable interrupts:

set MBIMn to '1'

End of setup

Receiving messages

Wait for IRQ0

Check RMP or MBRIF to

determine the mailbox

with RMP set

Read out the mailbox

Clear RMPn,

this clears also RML

RMLn = 1 ?

Read Out Mailbox again

RMPn = 1 ?

Clear MBRIF and return

from interrupt service

routine

Yes

Yes, Data has become inconsistent

reading it out!

New setup for

the mailbox?

Disable mailbox:

set MCn to '0'

Yes

Special user tasks ...

Set LAME / GAME of the

mailbox if necessary

Setup LAM / GAM if

necessary

Clear RMPn,

this clears also RML

Figure 7.5.1 Receiving Objects Using IRQ0

It is also possible to use polling. In this case, the “waiting for IRQ0” in above flowchart must be

replaced by polling RMP. Enabling interrupts and clearing MBRIF must be removed from the flow.

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