RL78/D1A User's Manual: Hardware - Renesas

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Under development Preliminary document Specifications in this document are tentative and subject to change. RL78/D1A CHAPTER 14 CAN CONTROLLER 14.3 Functions 14.3.1 Determining bus priority (1) When a node starts transmission: - During bus idle, the node that output data first transmits the data. (2) When more than one node starts transmission: - The node that outputs the dominant level for the longest consecutively from the first bit of the arbitration field acquires the bus priority (if a dominant level and a recessive level are simultaneously transmitted, the dominant level is taken as the bus value). - The transmitting node compares its output arbitration field and the data level on the bus. Level match Continuous transmission Table 14-9. Determining Bus Priority Level mismatch Stops transmission at the bit where mismatch is detected and starts reception at the following bit (3) Priority of data frame and remote frame - When a data frame and a remote frame are on the bus, the data frame has priority because its RTR bit, the last bit in the arbitration field, carries a dominant level. Caution If the extended-format data frame and the standard-format remote frame conflict on the bus (if ID28 to ID18 of both of them are the same), the standard-format remote frames takes priority. 14.3.2 Bit stuffing Bit stuffing is used to establish synchronization by appending 1-bit inverted data if the same level continues for 5 bits, in order to prevent a burst error. Table 14-10. Bit Stuffing Transmission During the transmission of a data frame or remote frame, when the same level continues for 5 bits in the data between the start of frame and the ACK field, 1 inverted-level bit of data is inserted before the following bit. Reception During the reception of a data frame or remote frame, when the same level continues for 5 bits in the data between the start of frame and the ACK field, reception is continued after deleting the next bit. 14.3.3 Multi masters As the bus priority (a node acquiring transmit functions) is determined by the identifier, any node can be the bus master. 14.3.4 Multi cast Although there is one transmitting node, two or more nodes can receive the same data at the same time because the same identifier can be set to two or more nodes. 14.3.5 CAN sleep mode/CAN stop mode function The CAN sleep mode/CAN stop mode function puts the CAN controller in waiting mode to achieve low power consumption. The controller is woken up from the CAN sleep mode by bus operation but it is not woken up from the CAN stop mode by bus operation (the CAN stop mode is controlled by CPU access). R01UH0317EJ0004 Rev. 0.04 797 Feb. 22, 2013
Under development Preliminary document Specifications in this document are tentative and subject to change. RL78/D1A CHAPTER 14 CAN CONTROLLER 14.3.6 Error control function (1) Error types Type Table 14-11. Error Types Description of Error Detection State Detection Method Detection Condition Bit error Comparison of output level and level on the bus Stuff error Check the receive data at the stuff bit CRC error Comparison of the CRC sequence generated from the receive data and the received CRC sequence Form error Field/frame check of the fixed format ACK error Check of the ACK slot by the transmitting node (2) Output timing of error frame Transmission/ Reception Mismatch of levels Transmitting/ receiving node 6 consecutive bits of the same output level Field/Frame Bit that outputting data on the bus at the start of frame to end of frame, error frame and overload frame. Receiving node Start of frame to CRC sequence Mismatch of CRC Receiving node CRC field Detection of fixed format violation Detection of recessive level in ACK slot Receiving node CRC delimiter ACK field End of frame Error frame Overload frame Transmitting node ACK slot Table 14-12. Output Timing of Error Frame Type Output Timing Bit error, stuff error, form error, ACK error Error frame output is started at the timing of the bit following the detected error. CRC error Error frame output is started at the timing of the bit following the ACK delimiter. (3) Processing in case of error The transmission node re-transmits the data frame or remote frame after the error frame (However, it does not retransmit the frame in the single-shot mode.). R01UH0317EJ0004 Rev. 0.04 798 Feb. 22, 2013
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User’s Manual 16 RL78/D1A 16-Bit
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NOTES FOR CMOS DEVICES (1) VOLTAGE
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Conventions Data significance: High
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CONTENTS CHAPTER 1 OUTLINE.........
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RL78/D1A User’s Manual: Hardware
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