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23.6.13 Transmission Interrupt Enable Register (TIER) ......................................................................... 486
23.6.14 Reception Complete Register (RCR) ........................................................................................ 487
23.6.15 Remote Request Receiving Register (RRTRR) ........................................................................ 488
23.6.16 Receive Overrun Register (ROVRR) ......................................................................................... 489
23.6.17 Reception Interrupt Enable Register (RIER) ............................................................................. 490
23.6.18 Acceptance Mask Select Register (AMSR) ............................................................................... 491
23.6.19 Acceptance Mask Registers 0 and 1 (AMR0 and AMR1) .......................................................... 493
23.6.20 Message Buffers ........................................................................................................................ 495
23.6.21 ID Register x (x = 0 to 15) (IDRx) .............................................................................................. 496
23.6.22 DLC Register x (x = 0 to 15) (DLCRx) ....................................................................................... 498
23.6.23 Data Register x (x = 0 to 15) (DTRx) ......................................................................................... 499
23.7
Transmission of CAN Controller ..................................................................................................... 501
23.8
Reception of CAN Controller .......................................................................................................... 504
23.9
Reception Flowchart of CAN Controller .......................................................................................... 507
23.10 How to Use the CAN Controller ...................................................................................................... 508
23.11 Procedure for Transmission by Message Buffer (x) ....................................................................... 510
23.12 Procedure for Reception by Message Buffer (x) ............................................................................. 512
23.13 Setting Configuration of Multi-level Message Buffer ....................................................................... 514
23.14 Setting the redirection of CAN1 and CAN3 RX/TX pin ................................................................... 516
23.15 Setting the CAN Direct Mode Register ........................................................................................... 518
23.16 Precautions when Using CAN Controller ........................................................................................ 519
CHAPTER 24 STEPPING MOTOR CONTROLLER ....................................................... 521
24.1
Outline of Stepping Motor Controller .............................................................................................. 522
24.2
Stepping Motor Controller Registers ............................................................................................... 523
24.2.1
PWM Control 0 register ............................................................................................................. 524
24.2.2
PWM1 and PWM2 Compare Registers ..................................................................................... 526
24.2.3
PWM1 and PWM2 Select Registers .......................................................................................... 527
24.3
Notes on Using the Stepping Motor Controller ............................................................................... 531
CHAPTER 25 SOUND GENERATOR ............................................................................. 533
25.1
Outline of Sound Generator ............................................................................................................ 534
25.2
Sound Generator Registers ............................................................................................................ 535
25.2.1
Sound Generator Control Register ............................................................................................ 536
25.2.2
Frequency Data register ............................................................................................................ 539
25.2.3
Amplitude Data Register ............................................................................................................ 540
25.2.4
Decrement Grade Register ........................................................................................................ 541
25.2.5
Tone Count Register ................................................................................................................. 542
CHAPTER 26 ADDRESS MATCH DETECTION FUNCTION ......................................... 543
26.1
Outline of the Address Match Detection Function .......................................................................... 544
26.2
Registers of the Address Match Detection Function ....................................................................... 545
26.3
Operation of the Address Match Detection Function ...................................................................... 547
26.4
Example of the Address Match Detection Function ........................................................................ 548
CHAPTER 27 ROM MIRRORING MODULE ................................................................... 551
27.1
Outline of ROM Mirroring Module ................................................................................................... 552
xi
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