M16C Datasheet, PDF (166/262 Pages) Mitsubishi Electric Semiconductor – SINGLE-CHIP 16-BIT CMOS MICROCOMPUTER

Preliminary Specifications REV.B
Mitsubishi microcomputers
Specifications in this manual are tentative and subject to change.
M16C / 6N Group
SINGLE-CHIP 16-BIT CMOS MICROCOMPUTER
CAN Module
CAN Message Objects
Data can be written in the grey shaded bits in the identifier bytes. But in the case of read-process, the value of these
bits will be set to "0" if a successful receive process is performed for the corresponding slot. In case of no message
storage by the CAN module, these bits contain their previous values (written by the CPU).
Please note the meaning of byte order in the message object. This order corresponds directly with the data
field on the bus in chronological order (see Figures. 18-2/18-3 CAN data frames).
Bit 7
EID₁₃
EID₁₂
SID₅
EID₁₁
EID₅
SID₁₀ SID₉
SID₄
SID₃
EID₁₇
EID₁₀ EID₉
EID₄
EID₃
DLC₃
Data Byte 0
SID₈
SID₂
EID₁₆
EID₈
EID₂
DLC₂
Data Byte 1
...
Data Byte 7
Time Stamp [15 to 8]
Time Stamp [7 to 0]
SID₇
SID₁
EID₁₅
EID₇
EID₁
DLC₁
Bit 0
SID₆
SID₀
EID₁₄
EID₆
EID₀
DLC₀
StdID [10 to 6]
StdID [5 to 0]
ExtID [17 to 14]
ExtID [13 to 6]
ExtID [5 to 0]
DLC
Time Stamp Upper Byte
Time Stamp Lower Byte
CAN Data Frame:
StdID[10 to 6] StdID[5 to 0] ExtID[17 to 14] ExtID[13 to 6] ExtID[5 to 0] DLC[3 to 0] Data 0[7 to 0] Data 1[7 to 0]
Data 7[7 to 0]
Figure 18-2. Bit organization of the message objects for byte access
Bit 15
Bit 8 Bit 7
SID₁₀ SID₉ SID₈ SID₇ SID₆
Bit 0
SID₅ SID₄ SID₃ SID₂ SID₁ SID₀
EID₁₇ EID₁₆ EID₁₅ EID₁₄ EID₁₃ EID₁₂ EID₁₁ EID₁₀ EID₉ EID₈ EID₇ EID₆
EID₅ EID₄ EID₃ EID₂ EID₁ EID₀
DLC₃ DLC₂ DLC₁ DLC₀
Data Byte 0
Data Byte 1
Data Byte 2
Data Byte 3
Data Byte 4
Data Byte 5
Data Byte 6
Data Byte 7
Time Stamp [15 to 8]
Time Stamp [7 to 0]
CAN Data Frame:
StdID[10 to 6] StdID[5 to 0] ExtID[17 to 14] ExtID[13 to 6] ExtID[5 to 0] DLC[3 to 0] Data 0[7 to 0] Data 1[7 to 0]
Figure 18-3. Bit organization of the message objects for word access
Data 7[7 to 0]
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