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M16C/5L Group, M16C/56 Group
23.1.1
CAN0 Control Register (C0CTLR)
CAN0 Control Register
b15
b8
b7
0
Notes:
1. When bits CANM and SLPM are changed, check the C0STR register to ensure that the mode has been
switched. Do not change bits CANM and SLPM until the mode has been switched. Change the frequency of
the CPU clock or BCLK in any mode other than CAN operation mode.
2. Write to the SLPM bit in CAN sleep mode, CAN reset mode, or CAN halt mode.
When rewriting the SLPM bit, set only this bit to 0 or 1.
3. Write to bits BOM, CPE, MBM, IDFM, MLM, TPM, and TSPS in CAN reset mode.
4. Set the RBOC bit to 1 in bus-off state.
5. Bits RBOC and TSRC are automatically set back to 0 after being set to 1. It should be read as 0.
6. Set the TSRC bit to 1 in CAN operation mode.
Figure 23.2
C0CTLR Register
R01UH0127EJ0110 Rev.1.10
Sep 01, 2011
b0
Symbol
C0CTLR
Bit Symbol
CAN Operating Mode
CANM
Select Bit
SLPM
CAN Sleep Mode Bit
Bus-Off Recovery Mode
BOM
Select Bit
Forcible Return From
RBOC
Bus-Off Bit
—
Reserved
(b6)
CPE
CAN Port Enable Bit
CAN Mailbox Mode
MBM
Select Bit
ID Format Mode
IDFM
Select Bit
Message Lost Mode
MLM
Select Bit
Transmit Priority Mode
TPM
Select Bit
Time Stamp Counter
TSRC
Reset Bit
Time Stamp Prescaler
TSPS
Select Bit
Address
D7C1h-D7C0h
Bit Name
b1 b0
0 0 : CAN operation mode
0 1 : CAN reset mode
(1)
1 0 : CAN halt mode
1 1 : Do not use this combination
0: Other than CAN sleep mode
(1, 2)
1: CAN sleep mode
b4 b3
0 0 : Normal mode
(ISO11898-1 compliant)
0 1: Entry to CAN halt mode
automatically at bus-off entry
(3)
1 0 : Entry to CAN halt mode
automatically at bus-off end
1 1 : Entry to CAN halt mode
(during bus-off recovery period)
by a program request
0: Nothing occurred
(4)
1: Forcible return from bus-off
Should be written with 0
0: Function as I/O ports
(3)
1: Function as CAN I/O
0: Normal mailbox mode
(3)
1: FIFO mailbox mode
b10b9
0 0 : Standard ID mode
0 1 : Extended ID mode
(3)
1 0 : Mixed ID mode
1 1 : Do not use this combination
0: Overwrite mode
(3)
1: Overrun mode
0: ID priority transmit mode
1: Mailbox number priority transmit
(3)
mode
0: Nothing occurred
(6)
1: Reset
b15b14
0 0 : Every bit time
0 1 : Every 2-bit time
(3)
1 0 : Every 4-bit time
1 1 : Every 8-bit time
23. CAN Module
Reset Value
0000 0000 0000 0101b
Function
(5)
(5)
Page 550 of 803
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