UARTi (i = 0 to 2) ........................................................................................................................................... 133

Clock Synchronous Serial I/O Mode ......................................................................................................... 142

Clock Asynchronous Serial I/O (UART) Mode .......................................................................................... 149

Special Mode 1 (I

Special Mode 2 ......................................................................................................................................... 165

Special Mode 3 (IE Mode) ........................................................................................................................ 170

Special Mode 4 (SIM Mode) (UART2) ...................................................................................................... 172

SI/O3 .............................................................................................................................................................. 177

A-D Converter ....................................................................................................................... 182

(1) One-shot Mode ......................................................................................................................................... 186

(2) Repeat Mode ............................................................................................................................................ 188

(3) Single Sweep Mode .................................................................................................................................. 190

(4) Repeat Sweep Mode 0 ............................................................................................................................. 192

(5) Repeat Sweep Mode 1 ............................................................................................................................. 194

D-A Converter ....................................................................................................................... 198

CRC Calculation .................................................................................................................... 200

CAN Module .......................................................................................................................... 202

CAN Module-Related Registers ..................................................................................................................... 203

CAN0 Message Box .................................................................................................................................. 204

Acceptance Mask Registers ..................................................................................................................... 206

CAN SFR Registers .................................................................................................................................. 207

Operational Modes ......................................................................................................................................... 216

Configuration of the CAN Module System Clock ........................................................................................... 218

CAN Bus Timing Control ................................................................................................................................ 218

Acceptance Filtering Function and Masking Function ................................................................................... 220

Acceptance Filter Support Unit (ASU) ........................................................................................................... 221

Basic CAN Mode ............................................................................................................................................ 222

Return from Bus off Function ......................................................................................................................... 223

Time Stamp Counter and Time Stamp Function ............................................................................................ 223

Listen-Only Mode ........................................................................................................................................... 223

Reception and Transmission .......................................................................................................................... 224

CAN Interrupts ............................................................................................................................................... 227

Programmable I/O Ports ....................................................................................................... 228

(1) Port Pi Direction Register (PDi Register, i = 0 to 10) ................................................................................ 228

(2) Port Pi Register (Pi Register, i = 0 to 10) .................................................................................................. 228

(3) Pull-up Control Register j (PURj Register, j = 0 to 2) ................................................................................ 228

(4) Port Control Register (PCR Register) ....................................................................................................... 228

Electrical Characteristics ....................................................................................................... 240

Flash Memory ....................................................................................................................... 258

Flash Memory Performance ........................................................................................................................... 258

Memory Map .................................................................................................................................................. 259

Boot Mode ...................................................................................................................................................... 260

Functions to Prevent Flash Memory from Rewriting ...................................................................................... 260

CPU Rewrite Mode ........................................................................................................................................ 262

Standard Serial I/O Mode .............................................................................................................................. 279

Parallel I/O Mode ........................................................................................................................................... 283

CAN I/O Mode ................................................................................................................................................ 284

Electrical Characteristics ................................................................................................................................ 287

C Mode) ....................................................................................................................... 156

A-3

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