424
7679H–CAN–08/08
AT90CAN32/64/128
17 USART (USART0 and USART1) .......................................................... 177
17.1 Features ..........................................................................................................177
17.2 Overview .........................................................................................................177
17.3 Dual USART ...................................................................................................177
17.4 Clock Generation ............................................................................................179
17.5 Serial Frame ...................................................................................................181
17.6 USART Initialization ........................................................................................182
17.7 Data Transmission – USART Transmitter ......................................................183
17.8 Data Reception – USART Receiver ................................................................186
17.9 Asynchronous Data Reception .......................................................................190
17.10 Multi-processor Communication Mode ...........................................................193
17.11 USART Register Description ..........................................................................195
17.12 Examples of Baud Rate Setting ......................................................................200
18 Two-wire Serial Interface ..................................................................... 204
18.1 Features ..........................................................................................................204
18.2 Two-wire Serial Interface Bus Definition .........................................................204
18.3 Data Transfer and Frame Format ...................................................................205
18.4 Multi-master Bus Systems, Arbitration and Synchronization ..........................207
18.5 Overview of the TWI Module ..........................................................................209
18.6 TWI Register Description ................................................................................212
18.7 Using the TWI .................................................................................................215
18.8 Transmission Modes .......................................................................................218
18.9 Multi-master Systems and Arbitration .............................................................232
19 Controller Area Network - CAN ........................................................... 234
19.1 Features ..........................................................................................................234
19.2 CAN Protocol ..................................................................................................234
19.3 CAN Controller ................................................................................................240
19.4 CAN Channel ..................................................................................................241
19.5 Message Objects ............................................................................................243
19.6 CAN Timer ......................................................................................................247
19.7 Error Management ..........................................................................................248
19.8 Interrupts .........................................................................................................249
19.9 CAN Register Description ...............................................................................251
19.10 General CAN Registers ..................................................................................252
19.11 MOb Registers ................................................................................................261
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