K60P100M100SF2RM Datasheet, PDF (1351/1809 Pages) Freescale Semiconductor, Inc – K60 Sub-Family Reference Manual

Chapter 48 CAN (FlexCAN)
Fixed recessive bit, used only in extended format. It must be set to '1' by the user for
transmission (Tx Buffers) and will be stored with the value received on the CAN bus for
Rx receiving buffers. It can be received as either recessive or dominant. If FlexCAN
receives this bit as dominant, then it is interpreted as arbitration loss.
1 = Recessive value is compulsory for transmission in Extended Format frames
0 = Dominant is not a valid value for transmission in Extended Format frames
IDE — ID Extended Bit
This bit identifies whether the frame format is standard or extended.
1 = Frame format is extended
0 = Frame format is standard
RTR — Remote Transmission Request
This bit affects the behavior of Remote Frames and is part of the reception filter. Refer to
Table 48-109, Table 48-110 and the description of the RRS bit in Control 2 Register
(CTRL2) for additional details.
If FlexCAN transmits this bit as '1' (recessive) and receives it as '0' (dominant), it is
interpreted as arbitration loss. If this bit is transmitted as '0' (dominant), then if it is
received as '1' (recessive), the FlexCAN module treats it as bit error. If the value received
matches the value transmitted, it is considered as a successful bit transmission.
1 = Indicates the current MB may have a Remote Request Frame to be transmitted if MB
is Tx. If the MB is Rx then incoming Remote Request Frames may be stored.
0 = Indicates the current MB has a Data Frame to be transmitted.. In Rx MB it may be
considered in matching processes.
DLC — Length of Data in Bytes
This 4-bit field is the length (in bytes) of the Rx or Tx data, which is located in offset 0x8
through 0xF of the MB space (see Table 48-108). In reception, this field is written by the
FlexCAN module, copied from the DLC (Data Length Code) field of the received frame.
In transmission, this field is written by the CPU and corresponds to the DLC field value
of the frame to be transmitted. When RTR=1, the Frame to be transmitted is a Remote
Frame and does not include the data field, regardless of the DLC field.
TIME STAMP — Free-Running Counter Time Stamp
This 16-bit field is a copy of the Free-Running Timer, captured for Tx and Rx frames at
the time when the beginning of the Identifier field appears on the CAN bus.
PRIO — Local priority
K60 Sub-Family Reference Manual, Rev. 6, Nov 2011
Freescale Semiconductor, Inc.
1351