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17. CAN Module
The CAN (Controller Area Network) module for the M16C/29 Group of MCUs is a communication controller
implementing the CAN 2.0B protocol. The M16C/29 Group contains one CAN module which can transmit
and receive messages in both standard (11-bit) ID and extended (29-bit) ID formats.
Figure 17.1 shows a block diagram of the CAN module.
External CAN bus driver and receiver are required.
C0CONR Register
CT
X
CR
X
Wake Up
Function
C0RECR Register
C0TECR Register
j = 0 to 15
Figure 17.1 Block Diagram of CAN Module
CTx/CRx:
Protocol controller:
Message box:
Acceptance filter:
16 bit timer:
Wake-up function:
Interrupt generation function: The interrupt requests are generated by the CAN module. CAN0 successful
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C0CTLR Register
Protocol
Controller
C0STR Register
CAN I/O pins.
This controller handles the bus arbitration and the CAN protocol services, i.e. bit
timing, stuffing, error status etc.
This memory block consists of 16 slots that can be configured either as transmitter
or receiver. Each slot contains an individual ID, data length code, a data field
(8 bytes) and a time stamp.
This block performs filtering operation for received messages. For the filtering
operation, the C0GMR register, the C0LMAR register, or the C0LMBR register is
used.
Used for the time stamp function. When the received message is stored in the
message memory, the timer value is stored as a time stamp.
CAN0 wake-up interrupt request is generated by a message from the CAN bus.
reception interrupt, CAN0 successful transmission interrupt, CAN0 error interrupt
and CAN0 wake-up interrupt.
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Data Bus
C0GMR Register
C0LMAR Register
C0MCTLj Register
C0LMBR Register
Acceptance Filter
slots 0 to 15
16 Bit Timer
C0TSR Register
C0ICR Register
C0SSTR Register
Data Bus
17. CAN Module
C0IDR Register
Message Box
slots 0 to 15
Message ID
DLC
Message Data
Time Stamp
Interrupt
Generation
Function
CAN0 Successful Reception Int
CAN0 Successful Transmission Int
CAN0 Error Int
CAN0 Wake-Up Int
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