21.10 Rs-Can Setting Procedure; Initial Settings - Renesas RZ/A Series User Manual

RZ/A1L Group, RZ/A1LU Group, RZ/A1LC Group

21.10 RS-CAN Setting Procedure

21.10.1

Initial Settings

The RS-CAN module initializes the CAN RAM after this LSI is reset. The RAM initialization time is
6082 cycles of pclk. The GRAMINIT flag in the RSCAN0GSTS register is set to 1 (CAN RAM
initialization is ongoing) during the RAM initialization and is cleared to 0 (CAN RAM initialization is
finished) when the initialization is completed. Make CAN settings after the GRAMINIT flag is cleared
to 0. Figure 21.16 shows the CAN setting procedure after this LSI is reset.
(Set GSLPR in the RSCAN0GCTR register to 0)
(Set CSLPR in the RSCAN0CmCTR register to 0)
Figure 21.16
R01UH0437EJ0600 Rev.6.00
Jan 29, 2021
Start
Is the GRAMINIT flag in the
RSCAN0GSTS register 0?
Yes
Transition from global stop mode to
global reset mode
Transition from channel stop mode to
channel reset mode
RSCAN0GCFG register setting
RSCAN0CmCFG register setting
Receive rule setting
Buffer setting
RSCAN0GCTR register setting
RSCAN0CmCTR register setting
Interrupt setting
Transition to global operating mode
(Set GMDC[1:0] in the RSCAN0GCTR register
to 00 )
B
Transition to channel communication mode
(Set CHMDC[1:0] in the RSCAN0CmCTR
register to 00 )
B
End
CAN Setting Procedure after the this LSI is Reset
No
Clock
Bit timing
Communication speed
Timestamp
Mirror function
DLC filter
Transmit priority
RSCAN0GAFLECTR, RSCAN0GAFLCFG0, RSCAN0GAFLCFG1,
RSCAN0GAFLIDj, RSCAN0GAFLMj, RSCAN0GAFLP0j, and
RSCAN0GAFLP1j registers
Receive buffer, receive FIFO buffer, transmit/receive
FIFO buffer, transmit buffer, transmit queue, transmit
history buffer
Global interrupt
Channel interrupt, bus off recovery, error indication
Interrupt control register of interrupt controller
Interrupt control register of interrupt controller
Notes 1: The following condition should be satisfied.
CAN clock = pclk/2
2: For the setting of the CAN clock frequency, refer to
Table 21.6, Range of Operating Frequency
Depending on the Transfer Rate and the Number of
Channels in Use in this LSI.
Remark: m = 0 or 1, j = 0 to 15
21. CAN Interface
21-142