![](http://datasheet.mmic.net.cn/30000/M32196F8UFP_datasheet_2359476/M32196F8UFP_14.png)
Contents-8
32192/32195/32196 Group Hardware Manual
Rev.1.10 REJ09B0123-0110 Apr.06.07
CHAPTER 13 CAN MODULE
13.1 Outline of the CAN Module --------------------------------------------------------------------------------------------- 13-2
13.2 CAN Module Related Registers --------------------------------------------------------------------------------------- 13-4
13.2.1
CAN Bus Mode Control Register ---------------------------------------------------------------------------- 13-23
13.2.2
CAN Control Registers ---------------------------------------------------------------------------------------- 13-26
13.2.3
CAN Status Registers ----------------------------------------------------------------------------------------- 13-29
13.2.4
CAN Configuration Registers --------------------------------------------------------------------------------- 13-32
13.2.5
CAN Timestamp Count Registers --------------------------------------------------------------------------- 13-35
13.2.6
CAN Error Count Registers ----------------------------------------------------------------------------------- 13-36
13.2.7
CAN Baud Rate Prescalers ---------------------------------------------------------------------------------- 13-37
13.2.8
CAN Interrupt Related Registers ---------------------------------------------------------------------------- 13-38
13.2.9
CAN Cause of Error Registers ------------------------------------------------------------------------------- 13-67
13.2.10
CAN Mode Registers ------------------------------------------------------------------------------------------- 13-69
13.2.11
CAN DMA Transfer Request Select Registers ----------------------------------------------------------- 13-70
13.2.12
CAN Message Slot Number Registers --------------------------------------------------------------------- 13-71
13.2.13
CAN Clock Select Registers --------------------------------------------------------------------------------- 13-72
13.2.14
CAN Frame Format Select Registers ---------------------------------------------------------------------- 13-74
13.2.15
CAN Mask Registers ------------------------------------------------------------------------------------------- 13-76
13.2.16
CAN Single-Shot Mode Control Registers ---------------------------------------------------------------- 13-80
13.2.17
CAN Message Slot Control Registers --------------------------------------------------------------------- 13-82
13.2.18
CAN Message Slots ------------------------------------------------------------------------------------------- 13-86
13.3 CAN Protocol -------------------------------------------------------------------------------------------------------------- 13-116
13.3.1
CAN Protocol Frames ----------------------------------------------------------------------------------------- 13-116
13.3.2
Data Formats during CAN Transmission/Reception ---------------------------------------------------- 13-117
13.3.3
CAN Controller Error States ---------------------------------------------------------------------------------- 13-118
13.4 Initializing the CAN Module -------------------------------------------------------------------------------------------- 13-119
13.4.1
Initializing the CAN Module ----------------------------------------------------------------------------------- 13-119
13.5 Transmitting Data Frames ---------------------------------------------------------------------------------------------- 13-122
13.5.1
Data Frame Transmit Procedure ---------------------------------------------------------------------------- 13-122
13.5.2
Data Frame Transmit Operation ----------------------------------------------------------------------------- 13-123
13.5.3
Transmit Abort Function --------------------------------------------------------------------------------------- 13-124
13.6 Receiving Data Frames ------------------------------------------------------------------------------------------------- 13-125
13.6.1
Data Frame Receive Procedure ----------------------------------------------------------------------------- 13-125
13.6.2
Data Frame Receive Operation ------------------------------------------------------------------------------ 13-126
13.6.3
Reading Out Received Data Frames ----------------------------------------------------------------------- 13-128
13.7 Transmitting Remote Frames ------------------------------------------------------------------------------------------ 13-130
13.7.1
Remote Frame Transmit Procedure ------------------------------------------------------------------------ 13-130
13.7.2
Remote Frame Transmit Operation ------------------------------------------------------------------------- 13-131
13.7.3
Reading Out Received Data Frames when Set for Remote Frame Transmission --------------- 13-133
13.8 Receiving Remote Frames --------------------------------------------------------------------------------------------- 13-135
13.8.1
Remote Frame Receive Procedure ------------------------------------------------------------------------- 13-135
13.8.2
Remote Frame Receive Operation -------------------------------------------------------------------------- 13-136
13.9 Notes on CAN Module -------------------------------------------------------------------------------------------------- 13-139