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CAN Controller (CAN)
OPMODE[2:0] = 00H
and CAN bus is busy.
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19.9 Transition from Initialization Mode to Operation
Mode
The CAN module can be switched to the following operation modes.
• Normal operation mode
• Normal operation mode with ABT
• Receive-only mode
• Single-shot mode
• Self-test mode
OPMODE[2:0] = 00H
and CAN bus is busy.
[Normal operation
mode with ABT]
OPMODE[2:0]=02H
OPMODE[2:0] = 02H
OPMODE[2:0] = 00H
[Normal operation
and interframe space
mode]
OPMODE[2:0]=01H
OPMODE[2:0] = 01H
GOM = 1
RESET
Figure 19-27
Transition to operation modes
The transition from the initialization mode to an operation mode is controlled by
the CnCTRL.OPMODE2 to CnCTRL.OPMODE0 bits.
Changing from one operation mode into another requires shifting to the
initialization mode in between. Do not change one operation mode to another
directly; otherwise the operation will not be guaranteed.
Requests for transition from an operation mode to the initialization mode are
held pending when the CAN bus is not in the interframe space (i.e., frame
reception or transmission is in progress), and the CAN module enters the
initialization mode at the first bit in the interframe space (the values of the
OPMODE2 to OPMODE0 bits are changed to 00H). After issuing a request to
change the mode to the initialization mode, read the OPMODE2 to OPMODE0
bits until their values become 000B to confirm that the module has entered the
initialization mode (see Figure 19-35 on page 746).
Preliminary User's Manual U17566EE1V2UM00
OPMODE[2:0] = 00H
and CAN bus is busy.
[Receive-only mode]
OPMODE[2:0]=03H
OPMODE[2:0] = 03H
[Single-shot mode]
OPMODE[2:0]=04H
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 04H
OPMODE[2:0] = 00H
and interframe space
INIT mode
OPMODE[2:0] = 05H
OPMODE[2:0] = 00H
OPMODE[2:0] = 00H
and interframe space
All CAN modules are
in INIT mode and GOM = 0
EFSD = 1
and GOM = 0
CAN module
channel invalid
RESET released
Chapter 19
OPMODE[2:0] = 00H
and CAN bus is busy.
OPMODE[2:0] = 00H
and CAN bus is busy.
[Self-test mode]
OPMODE[2:0]=05H
713
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