Mitsubishi Electric M32R Series User Manual page 672

Mitsubishi 32-bit risc single-chip microcomputers

Table of Contents

Initialize CAN module

Set Input/output Port

Operation Mode Register

Set Interrupt Controller

Set CAN Related Interrupt

Set CAN Configuration

Set ID Mask Register

Set CAN operation mode

CAN module initialization

Figure 13.4.2 Initializing the CAN Module

Mask Register

Negate CAN reset

13.4 Initializing the CAN Module

Set interrupt priority

Set CAN Error Interrupt

Mask Register

• Enable/disable CAN

bus error interrupt

• Enable/disable CAN

error passive interrupt

• Enable/disable CAN

bus off interrupt

• Set bit timing (baud rate)

• Set the number of times sampled

Set ID mask bit

Set loopback mode

Set BasicCAN mode

• Set CAN Extended IDRegister

• Set IDs for message slots

• Set Message Slot Control

Release CAN module from reset

Set CAN Slot Interrupt

Mask Register

• Enable/disable interrupt

to be generated at

completion of transmission

or reception in the slot