17. CAN Module
puorG92/C61M
page 288
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17.1 CAN Module-Related Registers
The CAN0 module has the following registers.
(1) CAN Message Box
A CAN module is equipped with 16 slots (16 bytes or 8 words each). Slots 14 and 15 can be used as Basic
CAN.
• Priority of the slots: The smaller the number of the slot, the higher the priority, in both transmission and
reception.
• A program can define whether a slot is defined as transmitter or receiver.
(2) Acceptance Mask Registers
A CAN module is equipped with 3 masks for the acceptance filter.
• CAN0 global mask register (C0GMR register: 6 bytes)
Configuration of the masking condition for acceptance filtering processing to slots 0 to 13
• CAN0 local mask A register (C0LMAR register: 6 bytes)
Configuration of the masking condition for acceptance filtering processing to slot 14
• CAN0 local mask B register (C0LMBR register: 6 bytes)
Configuration of the masking condition for acceptance filtering processing to slot 15
(3) CAN SFR Registers
• CAN0 message control register j (C0MCTLj register: 8 bits ✕ 16) (j = 0 to 15)
Control of transmission and reception of a corresponding slot
• CANi control register (CiCTLR register: 16 bits) (i = 0, 1)
Control of the CAN protocol
• CAN0 status register (C0STR register: 16 bits)
Indication of the protocol status
• CAN0 slot status register (C0SSTR register: 16 bits)
Indication of the status of contents of each slot
• CAN0 interrupt control register (C0ICR register: 16 bits)
Selection of “interrupt enabled or disabled” for each slot
• CAN0 extended ID register (C0IDR register: 16 bits)
Selection of ID format (standard or extended) for each slot
• CAN0 configuration register (C0CONR register: 16 bits)
Configuration of the bus timing
• CAN0 receive error count register (C0RECR register: 8 bits)
Indication of the error status of the CAN module in reception: the counter value is incremented or
decremented according to the error occurrence.
• CAN0 transmit error count register (C0TECR register: 8 bits)
Indication of the error status of the CAN module in transmission: the counter value is incremented or
decremented according to the error occurrence.
• CAN0 time stamp register (C0TSR register: 16 bits)
Indication of the value of the time stamp counter
• CAN0 acceptance filter support register (C0AFS register: 16 bits)
Decoding the received ID for use by the acceptance filter support unit
Explanation of each register is given as follows.
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