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CAN Controller (CAN)
(20)
Access
Address
Initial Value
Note
Caution
CnMDLCm - CANn message data length register m
The CnMDLCm register is used to set the number of bytes of the data field of a
message buffer.
This register can be read/written in 8-bit units.
Refer to "CAN registers overview" on page 555.
0000xxxx
. The register is initialized by any reset.
B
7
6
0
0
MDLC3 MDLC2 MDLC1 MDLC0 Data length of transmit/receive message
0
0
0
0
0
0
0
0
1
0
0
1
0
1
0
0
1
0
0
1
1
0
1
1
1
0
0
1
0
0
1
0
1
1
0
1
1
1
0
1
1
0
1
1
1
1
1
1
The data and DLC value actually transmitted to CAN bus are as follows.
Type of transmit
frame
Data frame
Remote frame
1.
Be sure to set bits 7 to 4 to 0000
2.
Receive data is stored in as many CnMDATAxm register as the number of
bytes (however, the upper limit is 8) corresponding to DLC of the received
frame. The CnMDATAxm register in which no data is stored is undefined.
User's Manual U18743EE1V2UM00
5
4
3
0
0
MDLC3
0
0 bytes
1
1 byte
0
2 bytes
1
3 bytes
0
4 bytes
1
5 bytes
0
6 bytes
1
7 bytes
0
8 bytes
1
Setting prohibited
(If these bits are set during transmission,
0
8-byte data is transmitted regardless of the
1
set DLC value when a data frame is
transmitted. However, the DLC actually
0
transmitted to the CAN bus is the DLC value
1
set to this register.)
0
1
Length of transmit data
Number of bytes specified by DLC
(However, 8 bytes if DLC ≥ 8)
0 bytes
.
B
Chapter 18
2
1
MDLC2
MDLC1
MDLC0
Note
DLC transmitted
MDLC3 to MDLC0
bits
0
591
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