Receiving Data Frames; Data Frame Reception Procedure - Mitsubishi 32172 User Manual

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13.6 Receiving Data Frames

13.6.1 Data Frame Reception Procedure

The following describes the procedure for receiving a data frame.
(1) Initializing the CAN Message Slot Control Register
Initialize the CAN Message Slot Control Register for the message slot in which to receive by
writing H'00 to the register.
(2) Verifying that reception is idle
Read the initialized CAN Message Slot Control Register and inspect the TRSTAT (transmit/
receive status) bit to see that reception has stopped and remains idle. If this bit = 1, it means that
the CAN module is accessing the message slot. Therefore, wait until the bit is cleared to 0.
(3) Setting the ID
Set the ID desired to be received in the message slot.
(4) Setting the extended ID register
Set the extended ID register's corresponding bit to 0 when it is desired to receive a standard
frame or 1 when it is desired to receive an extension frame.
(5) Setting the CAN Message Slot Control Register
Set the CAN Message Slot Control Register RR (receive request) bit to 1 by writing H'40 to the
register.
13.6 Receiving Data Frames
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CAN MODULES
Rev.1.0