x
20.4.2 LIN-UART Serial Mode Register (SMR) .................................................................................... 395
20.4.3 Serial Status Register (SSR) ...... ............................................................................................... 397
20.4.4 Reception and Transmission Data Register (RDR/TDR) ........................................................... 3 99
20.4.5 Extended Status/Control Register (ESCR) ....................... ......................................................... 401
20.4.6 Extended Communication Control Register (ECCR) ............... .................................................. 403
20.4.7 Baud Rate Generator Register 0 and 1 (BGR0/1) ...... ............................................................... 405
20.5 LIN-UART Interrupts ............................................................................................................ ........... 406
20.5.1 Reception Interrupt Generation and Flag Set Timing ................................................................ 409
20.5.2 Transmission Interrupt Generation and Flag Set Timing ........................................................... 411
20.6 LIN-UART Baud Rates ....................................... ............................................................................ 413
20.6.1 Setting the Baud Rate ............................................................................................. .................. 415
20.6.2 Restarting the Reload Counter ............................. ...... ...... ....... ...... ....... ...... ............................... 418
20.7 Operation of LIN-UART ...................................... ............................................................................ 420
20.7.1 Operation in Asynchronous Mode (Op. Modes 0 and 1) ........................................................... 422
20.7.2 Operation in Synchronous Mode (Operation Mode 2) ............................................................... 426
20.7.3 Operation with LIN Function (Operation Mode 3) . ..................................................................... 429
20.7.4 Direct Access to Serial Pins .............................................................................. ........................ 432
20.7.5 Bidirectional Communication Function (Normal Mode) ........................................................ ..... 433
20.7.6 Master-Slave Communication Function (Multiprocessor Mode) ................................................ 435
20.7.7 LIN Communication Function .................................................................................................... 4 38
20.7.8 Sample Flowcharts for LIN-UART in LIN communication (Operation Mode 3) .......................... 439
20.8 Notes on Using LIN-UART ..................... ......................................................................................... 441
CHAPTER 21 CAN CONTROLLER ................................................................................ 443
21.1 Features of CAN Controller ....................................... ..................................................................... 444
21.2 Block Diagram of CAN Controller ................................................. .................................................. 445
21.3 List of Overall Control Registers ............................................................................. ........................ 446
21.4 Classifying CAN Controller Registers ............................................................................................. 452
21.4.1 Configuration of Control Status Register (CSR) ........................................................................ 453
21.4.2 Function of Control Status Register (CSR) ................................................. ............................... 454
21.4.3 Correspondence between Node Status Bit and Node Status ..................... ............................... 456
21.4.4 Notes on Using Bus Operation Stop Bit (HALT = 1) ......... ......................................................... 457
21.4.5 Last Event Indicator Register (LEIR) ......................................................................................... 458
21.4.6 Receive and Transmit Error Counters (RTEC) ........................ .................................................. 461
21.4.7 Bit Timing Register (BTR) ........................................................................... ............................... 462
21.4.8 Prescaler Setting by Bit Timing Register (BTR) ...................................................... .................. 463
21.4.9 Message Buffer Valid Register (BVALR) .............. ..................................................................... 465
21.4.10 IDE Register (IDER) .................................................................................................................. 466
21.4.11 Transmission Request Register (TREQR) ........................................................ ........................ 467
21.4.12 Transmission RTR Register (TRTRR) ....................................................................................... 468
21.4.13 Remote Frame Receiving Wait Register (RFWTR) ................................................................... 469
21.4.14 Transmission Cancel Register (TCANR) ................................................................................... 470
21.4.15 Transmission Complete Register (TCR) .................................................................................... 471
21.4.16 Transmission Interrupt Enable Register (TIER) ......................................................................... 472
21.4.17 Reception Complete Register (RCR) ................................................................................... ..... 473
21.4.18 Remote Request Receiving Register (RRTRR) ............................................................. ........... 474
21.4.19 Receive Overrun Register (ROVRR) ......................................................................................... 475