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32180 Group User’s Manual (Rev.1.0)
CAN MODULE
Figure 13.8.1 Remote Frame Receive Procedure
13.8.2 Remote Frame Receive Operation
The following describes remote frame receive operation. The operations described below are automatically
performed in hardware.
(1) Setting the RA (Remote Active) bit
The RA (Remote Active) bit indicating that the corresponding slot is to handle remote frames is set to "1" at
the same time H’60 (Receive Request, Remote) or H’70 (Receive Request, Remote, Automatic Response
Disable) is written to the CAN Message Slot Control Register.
(2) Acceptance filtering
When the CAN module finished receiving data, it starts searching for the slot that satisfies the conditions for
receiving the received message, sequentially from slot 0 (up to slot 15). The following shows receive condi-
tions for the slots that have been set for data frame reception.
[Conditions]
• The received frame is a remote frame.
• The receive ID and the slot ID are identical, assuming the ID Mask Register bits set to "0" are “Don’t care.”
• The standard and extended frame types are the same.
13.8 Receiving Remote Frames
Remote frame
receive 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'60
(receive request, remote and automatic response enable)
Write H'70
(receive request, remote and automatic response disable)
Read the CAN Message Slot
Control Register
TRSTAT bit = 0
YES
NO
Confirm that reception is idle
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