M32CSLASH86 datasheet(337/505 Pages) RENESAS

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23. CAN Module

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23. CAN Module

The CAN (Controller Area Network) module included in the M32C/86 group (M32C/86, M32C/86T) is a Full

CAN module, compatible with CAN Specification 2.0 Part B. Two channels, CAN0 and CAN1, can be used.

Table 23.1 lists specifications of the CAN module.

Table 23.1 CAN Module Specifications

Item

Specification

Protocol

CAN Specification 2.0 Part B

Message Slots

16 slots

Polarity

Dominant: "L"

Recessive: "H"

Acceptance Filter

Global mask: 1 (for message slots 0 to 13)

Local mask: 2 (for message slots 14 and 15 respectively)

Baud Rate

Baud rate =

--- Max. 1 Mbps

Tq clock cycle =

Tq per bit = SS + PTS +PBS1+PBS2

Tq:

Time quantum

BRP: Setting value of the C0BRP and C1BRP registers, 1-255

SS:

Synchronization Segment; 1 Tq

PTS: Propagation Time Segment; 1 to 8 Tq

PBS1: Phase Buffer Segment 1; 2 to 8 Tq

PBS2: Phase Buffer Segment 2 ; 2 to 8 Tq

Remote Frame Automatic

Message slot that receives the remote frame transmits the data frame

Answering Function

automatically

Time Stamp Function

Time stamp function with a 16-bit counter. Count source can be selected

from the CAN bus bit clock divided by 1, 2, 3 or 4

CAN bus bit clock =

BasicCAN Mode

BasicCAN function can be used with the CANi message slots 14 and 15

Transmit Abort Function

Transmit request is aborted

Loopback Function

Frame transmitted by the CAN module is received by the same CAN module

Forcible Error Active

The CAN module is forced into an error active state by resetting an error

Transition Function

counter.

Single-Shot Transmit Function The CAN module does not transmit data again even if arbitration lost or

transmission error causes a transmission failure

Self-Test Function

The CAN module communicates internally and diagnoses its CAN module

state

NOTES:

1. Use an oscillator with maximum 1.58% oscillator tolerance.

Tq clock cycle x Tq per bit

BRP + 1

CAN clock

CAN bit time

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