TC1796
Peripheral Units (Vol. 2 of 2)
Controller Area Network (MultiCAN) Controller
User’s Manual 22-111 V2.0, 2007-07
MultiCAN, V2.0
Transmit Priority of Msg. Objects based on CAN Arbitration Rules
Table 22-12 Transmit Priority of Msg. Objects Based on CAN Arbitration Rules
Settings of Arbitrarily Chosen Message
Objects A and B,
(A has higher transmit priority than B)
Comment
A.MOAR[28:18] < B.MOAR[28:18]
(11 bit standard identifier of A less than
11 bit standard identifier of B)
Messages with lower standard identifier
have higher priority than messages with
higher standard identifier. MOAR[28] is the
most significant bit (MSB) of the standard
identifier. MOAR[18] is the least significant
bit of the standard identifier.
A.MOAR[28:18] = B.MOAR[28:18]
A.MOAR.IDE = 0 (send Standard Frame)
B.MOAR.IDE = 1 (send Extended Frame)
Standard Frames have higher transmit
priority than extended frames with equal
standard identifier.
A.MOAR[28:18] = B.MOAR[28:18]
A.MOAR.IDE = B.MOAR.IDE = 0
A.MOCTR.DIR = 1 (send Data Frame)
B.MOCTR.DIR = 0 (send Remote Fame)
Standard Data Frames have higher
transmit priority than Standard Remote
Frames with equal identifier.
A.MOAR[28:0] = B.MOAR[28:0]
A.MOAR.IDE = B.MOAR.IDE = 1
A.MOCTR.DIR = 1 (send Data Frame)
B.MOCTR.DIR = 0 (send Remote Frame)
Extended Data Frames have higher
transmit priority than Extended Remote
Frames with equal identifier.
A.MOAR[28:0] < B.MOAR[28:0]
A.MOAR.IDE = B.MOAR.IDE = 1
(29-bit identifier)
Extended Frames with lower identifier
have higher transmit priority than
Extended Frames with higher identifier.
MOAR[28] is the most significant bit (MSB)
of the overall identifier (standard identifier
MOAR[28:18] and identifier extension
MOAR[17:0]). MOAR[0] is the least
significant bit (LSB) of the overall identifier.
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