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32180 Group User’s Manual (Rev.1.0)
CAN MODULE
13.7 Transmitting Remote Frames
Remote frame
transmit procedure
Initialize the CAN Message Slot
Control Register
Set ID in the message slot
Set the Extended ID Register
Set the CAN Message Slot
Control Register
End of setting
Write H'00
Standard ID or extended ID
Write H'A0 (transmit request, remote)
Read the CAN Message Slot
Control Register
TRSTAT bit = 0
YES
NO
Confirm that transmission is idle
Figure 13.7.1 Remote Frame Transmit Procedure
13.7.2 Remote Frame Transmit Operation
The following describes remote frame transmit operation. The operations described below are automatically
performed in hardware.
(1) Setting the RA (Remote Active) bit
The RA (Remote Active) bit is set to "1" at the same time H’A0 (Transmit Request, Remote) is written to the
CAN Message Slot Control Register, indicating that the corresponding slot is to handle remote frames.
(2) Selecting a transmit frame
The CAN module checks slots which have transmit requests (including data frame transmit slots) every
intermission to determine the frame to transmit. If two or more transmit slots exist, frames are transmitted in
order of slot numbers beginning with the smallest.
(3) Transmitting a remote frame
After determining the transmit slot, the CAN module sets the corresponding CAN Message Slot Control
Register’s TRSTAT (Transmit/Receive Status) bit to "1" and starts transmitting.
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