Receiving Remote Frames; Remote Frame Receive Procedure - Mitsubishi Electric M32R Series User Manual

Mitsubishi 32-bit risc single-chip microcomputers

Table of Contents

13.8 Receiving Remote Frames

The following describes the procedure for receiving remote frames.

(1) Initializing the CAN Message Slot Control Register

Initialize the CAN Message Slot Control Register for the slot in which you want to receive by

writing H'00 to the register.

(2) Confirming that reception is idle

Read the CAN Message Slot Control Register after being initialized and check the TRSTAT

(Transmit/Receive Status) bit to see that reception has stopped and remains idle. If this bit = 1, it

means that the CAN module is accessing the message slot, so you need to wait until the bit is

(3) Setting the receive ID

Set the ID you want to receive in the message slot.

(4) Setting the Extended ID Register

Set the corresponding bit of the Extended ID Register to 0 when you want to receive a standard

frame or 1 when you want to receive an extended frame.

(5) Setting the CAN Message Slot Control Register

When automatic response (data frame transmission) for remote frame reception is desired

Write H'60 to the CAN Message Slot Control Register to set the RR (Receive Request) and

RM (Remote) bits to 1.

When automatic response (data frame transmission) for remote frame reception is not

Write H'70 to the CAN Message Slot Control Register to set the RR (Receive Request), RM

(Remote), and RL (Automatic Response Enable) bits to 1.

Note: In BasicCAN mode, slots 14 and 15, although capable of receiving remote frames,

cannot automatically respond to remote frame reception.

13.8 Receiving Remote Frames