M16CSLASH29 datasheet(324/499 Pages) RENESAS

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17. CAN Module

page 300

17.2 Operating Modes

The CAN module has the following four operating modes.

• CAN Reset/Initialization Mode

• CAN Operating Mode

• CAN Sleep Mode

• CAN Interface Sleep Mode

Figure 17.17

shows transition between operating modes.

Figure 17.17 Transition Between Operating Modes

17.2.1 CAN Reset/Initialization Mode

The CAN reset/initialization mode is activated upon MCU reset or by setting the Reset bit in the C0CTLR

Entering the CAN reset/initialization mode initiates the following functions by the module:

• CAN communication is impossible.

• When the CAN reset/initialization mode is activated during an ongoing transmission in operation

mode, the module suspends the mode transition until completion of the transmission (successful,

arbitration loss, or error detection). Then, the State_Reset bit is set to 1, and the CAN reset/

initialization mode is activated.

• Registers C0MCTLj (j = 0 to 15), C0STR, C0ICR, C0IDR, C0RECR, C0TECR, and C0TSR are

initialized. All these registers are locked to prevent CPU modification.

• Registers C0CTLR, C0CONR, C0GMR, C0LMAR, and C0LMBR and the CAN0 message box

retain their contents and are available for CPU access.

MCU Reset

CAN reset/initialization

mode

State_Reset = 1

CAN operating mode

State_Reset = 0

CAN sleep mode

CAN interface

sleep mode

Bus off state

State_BusOff = 1

Reset = 0

CCLK3 = 1

Sleep = 1

Sleep = 0

TEC > 255

when 11 consecutive

recessive bits are

detected 128 times

RetBusOff = 1

CCLK3 = 0

Reset = 1

CCLK3: Bit in the CCLKR register

Reset, Sleep, RetBusOff: Bits in the C0CTLR register

State_Reset, tate_BusOff: Bits in the C0STR register

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