Advertisement
M16C/5L Group, M16C/56 Group
23. CAN Module
Note
Do not use CAN function in the M16C/56 Group.
The M16C/5L Group implements one channel (referred to as CAN0) of the Controller Area Network (CAN)
module that complies with the ISO11898-1 Specifications. The CAN module transmits and receives both
formats of messages, namely the standard identifier (11 bits) (identifier hereafter referred to as ID) and
extended ID (29 bits).
Tables 23.1 and 23.2 list the CAN module specifications, and Figure 23.1 shows the CAN module block
diagram.
Connect the CAN bus transceiver externally.
Table 23.1
CAN Module Specifications (1)
Item
Protocol
Bit rate
Message boxes
Reception
Acceptance filtering
Transmission
Mode transition for
bus-off recovery
R01UH0127EJ0110 Rev.1.10
Sep 01, 2011
ISO11898-1 compliant
Up to 1 Mbps
32 mailboxes:
Two selectable mailbox modes:
• Normal mailbox mode
All 32 mailboxes can be configured for transmission or reception.
• FIFO mailbox mode:
24 mailboxes can be configured for transmission or reception.
The remaining mailboxes can be configured as 4-stage FIFO for transmission
and 4-stage FIFO for reception.
• Data frames and remote frames can be received.
• Selectable receiving ID format (only standard ID, only extended ID, or both ID)
• Programmable one-shot reception function
• Selectable overwrite mode (message overwritten) or overrun mode (message
discarded)
• The reception complete interrupt can be individually enabled or disabled for
each mailbox.
8 acceptance masks: one mask every 4 mailboxes
The mask can be individually enabled or disabled for each mailbox.
• Data frame and remote frame can be transmitted.
• Selectable transmitting ID format (only standard ID, only extended ID, or both
ID).
• Programmable one-shot transmission function
• Selectable ID priority transmit mode or mailbox number priority transmit mode
• Transmission request can be aborted. (The completion of abort can be
confirmed with a flag.)
• The transmission complete interrupt can be individually enabled or disabled for
each mailbox.
Mode transition for the recovery from the bus-off state can be selected:
• ISO11898-1 compliant
• Automatic entry to CAN halt mode at bus-off entry
• Automatic entry to CAN halt mode at bus-off end
• Entry to CAN halt mode by a program
• Transition to the error-active state by a program
Specification
23. CAN Module
Page 546 of 803
Advertisement
