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CHAPTER 16 CAN controller
I Procedure for Transmitting message Buffer (x)
Figure 16.5-4 shows a procedure for the transmit setting.
Setting offrame type
Transmit RTR register (TRTRx=0)
data register in transmission data stored
Data register (DTR
Remote frame receive wait
RFWTx=0
544
Figure 16.5-4 Flowchart of Procedure for Transmit Setting
Setting of bit timing
Setting of frame for mat
Setting of ID
Setting of acceptance filter
Message buffer filter used selected
Message buffer validating register (BVALR)
Setting transmission complete interrupt
Transmit complete interrupt enable register (TIER)
Data frame
Setting transmit data length
DLC register (DLCR)
yes
Remote frame receive
wait
no
Transmission message
Setting the request to transmit a data frame
Transmitting a data frame (TREQR)
Remote frame receiving wait
Communication error
START
Bit timing register (BTR)
IDE register (IDER)
ID register (IDR)
Acceptance mask select register (AMSR)
Acceptance mask registers (AMR0,1)
Remote frame
Selection of frame type
Remote frame receive wait
RFWTx=1
Canceling bus halt HALT=1
N : 0
Success of transmitting?
TCx
Y : 1
Transmission request cancel
Transmit cancel register (TCANR)
1
Transmission complete
END
Setting of frame type
Transmit RTR register (TRTRx=1)
Setting request data length
DLC register (DLCR)
N
Transmit cancel?
Y
TREQx
1
0
TCx
0
Transmission cancel
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