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16.5.3
Procedures for Transmitting and Receiving
The section explains the procedure for transmission/reception of message.
I Presetting
G
Setting of bit timing
• Set the bit timing register (BTR) after halting the bus operation (CSR: HALT = 1).
G
Setting of frame format
• Set the frame format used in the message buffer (x).When using the standard frame format, set the IDEx
bit in the IDE register (IDER) to "0". When using the extended frame format, set the IDEx bit to "1".
G
Setting of ID
• Set the ID of the message buffer (x) to the ID28 to ID0 bits in the ID register (IDR).In the standard
frame format, it does not have to set the ID17 to ID0 bits.The ID of the message buffer (x) is used as the
transmit message ID at transmitting and as the acceptance code at receiving.
• Set the ID after disabling the message buffer (x) (BVALR: BVALx = 0).Setting the ID with the message
buffer (x) enabled may store a message unnecessary received.
G
Setting of acceptance filter
• The acceptance filter used in the message buffer (x) is set by a combination of the acceptance code and
acceptance mask.Set the acceptance filter after disabling the message buffer (x) (BVALR: BVALx =
0).Setting the ID with the message buffer (x) enabled may store a message unnecessary received.
• The acceptance filter used for each message buffer (x) is selected by the acceptance mask select register
(AMSR).When using the acceptance mask registers (AMR0 and AMR1), set the acceptance mask
register (AMR0.1), too.
• Set the acceptance mask so that a transmission request will not be cancelled by storing an unnecessary
received message.
CHAPTER 16 CAN controller
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