Mitsubishi Electric M32R Series User Manual page 616

13
13.1 Outline of the CAN Module
The M32R/E contains CAN (Controller Area Network) Specification 2.0B-compliant Full CAN
module. This module has 16 message slots and three mask registers, effective use of which helps
to reduce the CPU load for data processing.
The following outlines the Full CAN module.
Table 13.1.1 Outline of the CAN Module
Item
Protocol
Number of message slots
Polarity
Acceptance filter
Baud rate
Remote frame automatic A slot which received a remote frame automatically sends a data frame.
response function
Time stamp function
BasicCAN mode
Transmit abort function
Loopback function
Return bus off function
Content
CAN Specification 2.0B
Total 16 slots (14 global slots, two local slots)
0: Dominant
1: Recessive
One global mask
Two local masks
1 Time quantum (Tq) = (BRP + 1)/CPU clock
(BRP: Baud rate prescaler set value)
Baud rate =
Tq period x number of Tq's for one bit
BRP
Number of Tq's for one bit = Synchronization Segment +
Progagation Segment
Phase Segment 1
Phase Segment 2
Time stamp function implemented by a 16-bit counter. Using CAN bus bit period as
the fundamental period, a count period can be set to 1/1 through 1/4 of it.
BasicCAN function is materialized using two local slots.
Transmit request can be canceled.
The data transmitted by CAN module itself is received.
Forcibly placed into error active mode after clearing error counter.
13-2
13.1 Outline of the CAN Module
1
··· Max 1 Mibps
:1-255 (0: Inhibited)
Propagation Segment +
Phase Segment 1 +
Phase Segment 2 +
: 1-8Tq
: 1-8Tq
: 2-8Tq (IPT = 2)
CAN MODULE
Ver.0.10