M16CSLASH29 datasheet(325/499 Pages) RENESAS

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17. CAN Module

page 301

17.2.2 CAN Operating Mode

The CAN operating mode is activated by setting the Reset bit in the C0CTLR register to 0. If the Reset bit

is set to 0, check that the State_Reset bit in the C0STR register is set to 0.

If 11 consecutive recessive bits are detected after entering the CAN operating mode, the module initiates

the following functions:

• The module's communication functions are released and it becomes an active node on the network

and may transmit and receive CAN messages.

• Release the internal fault confinement logic including receive and transmit error counters. The

module may leave the CAN operating mode depending on the error counts.

Within the CAN operating mode, the module may be in three different sub modes, depending on which

type of communication functions are performed:

• Module idle : The modules receive and transmit sections are inactive.

• Module receives : The module receives a CAN message sent by another node.

• Module transmits : The module transmits a CAN message. The module may receive its own

message simultaneously when the LoopBack bit in the C0CTLR register = 1

(Loop back mode enabled).

Figure 17.18

shows sub modes of the CAN operating mode.

Finish

reception

Module idle

TrmState = 0

RecState = 0

TrmState = 1

RecState = 0

Finish

transmission

Detect

an SOF

Start

transmission

Lost in arbitration

Module transmits

TrmState = 0

RecState = 1

Module receives

TrmState, RecState: Bits in the C0STR register

Figure 17.18 Sub Modes of CAN Operating Mode

17.2.3 CAN Sleep Mode

The CAN sleep mode is activated by setting the Sleep bit in the C0CTLR register to 1. It should never be

activated from the CAN operating mode but only via the CAN reset/initialization mode.

Entering the CAN sleep mode instantly stops the clock supply to the module and thereby reduces power

dissipation.

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