RL78/F13, F14 CHAPTER 18 CAN INTERFACE (RS-CAN LITE)
R01UH0368EJ0210 Rev.2.10 1403
Dec 10, 2015
Figure 18-16. CAN Setting Procedure after the Operation of the CAN Module is Enabled
Start
End
Receive rule setting
Interrupt setting
Transition to global operating mode
Buffer setting
Global interrupt
Channel interrupt, bus off recovery, error indication
Interrupt control registers of interrupt controller
·
This setting is not required when fx is not in use.
·
When fx is to be selected,
the following condition must be satisfied.
·
Clock
·
Bit timing
·
Communication speed
·
Timestamp
·
Mirror function
·
DLC filter
·
Transmit priority
GAFLCFG register
GAFLIDLj, GAFLIDHj, GAFLMLj, GAFLMHj, GAFLPLj, and GAFLPHj registers
Receive buffer, receive FIFO buffer, transmit/receive FIFO buffer,
transmit buffer, transmit history buffer
Enable the CAN module.
(Set the CAN0EN bit in the PER2 register to 1)
Start supply of the CAN clock.
(Set the CAN0MCKE bit in the CANCKSEL register
to 1)
Is the GRAMINIT flag in the
GSTS register 0?
Transition from global stop mode
to global reset mode
(Set the GSLPR bit in the GCTRL register to 0)
Transition from channel stop mode
to channel reset mode
(Set the CSLPR bit in the CiCTRL register to 0)
Setting of GCFGH and GCFGL registers
Setting of CiCFGH and CiCFGL registers
GCTRL register setting
CiCTRL register setting
Remark i = 0
j = 0 to 15
Notes 1. If the high-speed system clock (f
MX
) is to be selected as the LIN communications clock source, and the highspeed
on-chip oscillator clock (f
IH
) or the PLL clock with its source as the high-speed on-chip oscillator clock is to
be selected as the source of the clock signal for f
CLK
, make sure that the condition (LIN communications clock
source) < f
CLK
is satisfied.
2. If the high-speed system clock is to be selected as f
CLK
, do not select f
X
as f
CAN
.
No
Yes
Has the transition to global operating
mode been completed?
No
Yes
f
X
≤
2
f
CLK
Note 1
Transition to channel communication mode
Has the transition to
channel communication mode been
completed?
No
Yes
Note 2
Notes 2, 3
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