Mitsubishi 32172 User Manual page 619

13
CAN module initialization
Set input/output port
operation mode register
Set interrupt controller
Set CAN related interrupt
Set CAN configuration register
Set ID mask registers
Set CAN operation mode
CAN module initialization completed
Figure 13.4.2 CAN Module Initialization
mask registers
Negate CAN reset
13.4 Initialization of the CAN Module
Set interrupt priority level
Settings of CAN error
interrupt mask registers
• Enable/disable CAN
bus-error interrupt
• Enable/disable CAN
error-passive interrupt
• Enable/disable CAN
bus-off interrupt
• Set bit timing (baud rate)
• Set sampling times
Set ID mask bit
Settings for loopback mode
Settings for BasicCAN mode
• Set CAN extended ID
register
• Set ID in message slots
14 and 15
• Set message slot control
registers
Release CAN mode from reset
• Clear CAN control register
(CANCNT) FRST and RST bits
13-83
CAN MODULES
Settings of CAN slot
interrupt mask registers
• Enable/disable
transmit/receive-
complete interrupt for
each slot
Rev.1.0