FlexCAN
MPC5606S Microcontroller Reference Manual, Rev. 7
Freescale Semiconductor 675
RTR Remote Transmission Request
This bit is used for requesting transmissions of a data frame. If FlexCAN transmits this bit as 1
(recessive) and receives it as 0 (dominant), it is interpreted as arbitration loss. If this bit is
transmitted as 0 (dominant), then if it is received as 1 (recessive), then the FlexCAN module treats
it as a bit error. If the value received matches the value transmitted, it is considered as a successful
bit transmission.
0 Indicates the current MB has a Data frame to be transmitted
1 Indicates the current MB has a Remote frame to be transmitted
LENGTH Length of Data in Bytes
This 4-bit field is the length (in bytes) of the Rx or Tx data, which is located in offset 0x8 through 0xF
of the MB space (see
Ta ble 18-2). In reception, this field is written by the FlexCAN module, copied
from the DLC (Data Length Code) field of the received frame. In transmission, this field is written by
the CPU and corresponds to the DLC field value of the frame to be transmitted. When RTR=1, the
frame to be transmitted is a Remote frame and does not include the data field, regardless of the
length field.
TIME STAMP Free-Running Counter Time Stamp
This 16-bit field is a copy of the Free-Running Timer, captured for Tx and Rx frames at the time when
the beginning of the Identifier field appears on the CAN bus.
PRIO Local priority
This 3-bit field is used only when the LPRIO_EN bit is set in MCR and it only makes sense for Tx
buffers. These bits are not transmitted. They are appended to the regular ID to define the
transmission priority. See
Section 18.4.3, Arbitration process.
ID Frame Identifier
In Standard Frame format, only the 11 most significant bits (3 to 13) are used for frame identification
in both receive and transmit cases. The 18 least significant bits are ignored. In Extended Frame
format, all bits are used for frame identification in both receive and transmit cases.
DATA Data Field
Up to 8 bytes can be used for a data frame. For Rx frames, the data is stored as it is received from
the CAN bus. For Tx frames, the CPU prepares the data field to be transmitted within the frame.
Table 18-5. Message Buffer code for Rx buffers
Rx code before
Rx new frame
Description
Rx code after
Rx new frame
Comment
0000 INACTIVE: MB is not active. — MB does not participate in the matching
process.
0100 EMPTY: MB is active and
empty.
0010 MB participates in the matching process. When
a frame is received successfully, the code is
automatically updated to FULL.
Table 18-4. Message Buffer Structure field descriptions (continued)
Field Description
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