RL78/D1A User's Manual: Hardware - Renesas

Under development
Preliminary document
Specifications in this document are tentative and subject to change.
RL78/D1A CHAPTER 14 CAN CONTROLLER
OPMODE[2:0] = 00H
and CAN bus is busy.
OPMODE[2:0] = 00H
and CAN bus is busy.
[Normal operation
mode]
OPMODE[2:0]=01H
[Normal operation
mode with ABT]
OPMODE[2:0]=02H
Figure 14-54. Transition to Operation Modes
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 02H
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 01H
[Receive-only mode]
OPMODE[2:0]=03H
OPMODE[2:0] = 03H
INIT mode
OPMODE[2:0] = 00H
GOM = 1
All CAN modules are
in INIT mode and GOM = 0
EFSD = 1
and GOM = 0
RESET
CAN module
channel invalid
RESET released
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 00H
and CAN bus is busy.
OPMODE[2:0] = 04H
[Single-shot mode]
OPMODE[2:0]=04H
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 05H
OPMODE[2:0] = 00H
and interframe space
OPMODE[2:0] = 00H
and CAN bus is busy.
[Self-test mode]
OPMODE[2:0]=05H
OPMODE[2:0] = 00H
and CAN bus is busy.
The transition from the initialization mode to an operation mode is controlled by the bit string OPMODE [2:0] in the
C0CTRL register.
Changing from one operation mode into another requires shifting to the initialization mode in between. Do not change
one operation mode to another directly; otherwise the operation will not be guaranteed.
Requests for transition from the operation mode to the initialization mode are held pending when the CAN bus is not in
the interframe space (i.e., frame reception or transmission is in progress), and the CAN module enters the initialization
mode at the first bit in the interframe space (the value of OPMODE [2:0] are changed to 00H). After issuing a request to
change the mode to the initialization mode, read the OPMODE [2:0] bits until their value becomes 000B to confirm that the
module has entered the initialization mode (refer to Figure 14-64).
14.8.5 Resetting error counter C0ERC of CAN module
If it is necessary to reset the CAN module error counter C0ERC and the CAN module information register C0INFO
when re-initialization or forced recovery from the bus-off state is made, set the CCERC bit of the C0CTRL register to 1 in
the initialization mode. When this bit is set to 1, the CAN module error counter C0ERC and the CAN module information
register C0INFO are cleared to their default values.
R01UH0317EJ0004 Rev. 0.04 884
Feb. 22, 2013