M16CSLASH29 datasheet(312/499 Pages) RENESAS

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17. CAN Module

page 288

17.1 CAN Module-Related Registers

The CAN0 module has the following registers.

(1) CAN Message Box

A CAN module is equipped with 16 slots (16 bytes or 8 words each). Slots 14 and 15 can be used as Basic

CAN.

• Priority of the slots: The smaller the number of the slot, the higher the priority, in both transmission and

reception.

• A program can define whether a slot is defined as transmitter or receiver.

(2) Acceptance Mask Registers

A CAN module is equipped with 3 masks for the acceptance filter.

• CAN0 global mask register (C0GMR register: 6 bytes)

Configuration of the masking condition for acceptance filtering processing to slots 0 to 13

• CAN0 local mask A register (C0LMAR register: 6 bytes)

Configuration of the masking condition for acceptance filtering processing to slot 14

• CAN0 local mask B register (C0LMBR register: 6 bytes)

Configuration of the masking condition for acceptance filtering processing to slot 15

(3) CAN SFR Registers

• CAN0 message control register j (C0MCTLj register: 8 bits ✕ 16) (j = 0 to 15)

Control of transmission and reception of a corresponding slot

• CANi control register (CiCTLR register: 16 bits) (i = 0, 1)

Control of the CAN protocol

• CAN0 status register (C0STR register: 16 bits)

Indication of the protocol status

• CAN0 slot status register (C0SSTR register: 16 bits)

Indication of the status of contents of each slot

• CAN0 interrupt control register (C0ICR register: 16 bits)

Selection of “interrupt enabled or disabled” for each slot

• CAN0 extended ID register (C0IDR register: 16 bits)

Selection of ID format (standard or extended) for each slot

• CAN0 configuration register (C0CONR register: 16 bits)

Configuration of the bus timing

• CAN0 receive error count register (C0RECR register: 8 bits)

Indication of the error status of the CAN module in reception: the counter value is incremented or

decremented according to the error occurrence.

• CAN0 transmit error count register (C0TECR register: 8 bits)

Indication of the error status of the CAN module in transmission: the counter value is incremented or

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