M16C6NK Datasheet, PDF (241/404 Pages) Renesas Technology Corp – 16-BIT SINGLE-CHIP MICROCOMPUTER M16C FAMILY / M16C/60 SERIES

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M16C/6N Group (M16C/6NK, M16C/6NM)
19. CAN Module
19. CAN Module
The CAN (Controller Area Network) module for the M16C/6N Group (M16C/6NK, M16C/6NM) of microcomputers
is a communication controller implementing the CAN 2.0B protocol. The M16C/6N Group (M16C/6NK,
M16C/6NM) contains two CAN modules which can transmit and receive messages in both standard (11-bit)
ID and extended (29-bit) ID formats.
Figure 19.1 shows a block diagram of the CAN module.
External CAN bus driver and receiver are required.
CiCONR Register
CTX
Data Bus
CiCTLR Register
CiMCTLj Register
CiGMR Register
CiLMAR Register
CiLMBR Register
Protocol
Controller
CRX
Wake-Up
Function
Acceptance Filter
slots 0 to 15
16 Bit Timer
CiTSR Register
CiRECR Register
CiTECR Register
CiSTR Register
CiSSTR Register
CiICR Register
i = 0, 1
j = 0 to 15
Figure 19.1 CAN Module Block Diagram
Data Bus
CiIDR Register
Message Box
slots 0 to 15
Message ID
DLC
Message Data
Time Stamp
Interrupt
Generation
Function
CANi Successful Reception Int
CANi Successful Transmission Int
CAN0/1 Error Int
CAN0/1 Wake-Up Int
CTX/CRX:
CAN I/O pins.
Protocol controller: This controller handles the bus arbitration and the CAN protocol services, i.e. bit
timing, stuffing, error status etc.
Message box:
This memory block consists of 16 slots that can be configured either as transmitter
or receiver. Each slot contains an individual ID, data length code, a data field
(8 bytes) and a time stamp.
Acceptance filter:
This block performs filtering operation for received messages. For the filtering
operation, the CiGMR register (i = 0, 1), the CiLMAR register, or the CiLMBR
register is used.
16 bit timer:
Used for the time stamp function. When the received message is stored in the
message memory, the timer value is stored as a time stamp.
Wake-up function:
CAN0/1 wake-up interrupt request is generated by a message from the CAN bus.
Interrupt generation function: The interrupt requests are generated by the CAN module. CANi successful reception
interrupt, CANi successful transmission interrupt, CAN0/1 error interrupt and
CAN0/1 wake-up interrupt.
Rev.2.00 Nov 28, 2005 page 223 of 378
REJ09B0124-0200