RL78/F13, F14 CHAPTER 18 CAN INTERFACE (RS-CAN LITE)
R01UH0368EJ0210 Rev.2.10 1260
Dec 10, 2015
Table 18-1. CAN Module Specifications (1/2)
Item Specification
Number of channels 1
Protocol ISO11898-1 compliant
Communication speed • Maximum 1 Mbps
CANi bit time = CANiTq x Tq count per bit
i = 0
Tq: Time quantum
f
CAN: Frequency of CAN clock (selected by the DCS bit in the GCFGL register)
Buffer 20 buffers in total
• Individual buffers: 4 buffers (4 buffers for one channel)
Transmit buffer: 4 buffers per a channel
• Shared buffers: 16 buffers
Receive buffer: 0 to 16 buffers
Receive FIFO buffer: 2 FIFO buffers (up to 16 buffers allocatable to each)
Transmit/receive FIFO buffer: A FIFO buffer per a channel (up to 16 buffers allocatable to each)
Reception function • Receives data frames and remote frames.
• Selects ID format (standard ID, extended ID, or both IDs) to be received.
• Sets interrupt enable/disable for each FIFO.
• Mirror function (to receive messages transmitted from the own CAN node)
• Timestamp function (to record message reception time as a 16-bit timer value)
Reception filter function • Selects receive messages according to 16 receive rules.
• Sets the number of receive rules (0 to 16) for each channel.
• Acceptance filter processing: Sets ID and mask for each receive rule.
• DLC filter processing: Sets DLC check value for each receive rule.
Receive message transfer
function
• Routing function to transfer receive messages to arbitrary destinations
(can be transferred to up to 2 buffers).
Transfer destination: Receive buffer, receive FIFO buffer, and transmit/receive FIFO buffer
• Label addition function
Stores label information together when storing a message in a receive buffer and FIFO buffer.
Transmission function • Transmits data frames and remote frames.
• Selects ID format (standard ID, extended ID, or both IDs) to be transmitted.
• Sets interrupt enable/disable for each transmit buffer and transmit/receive FIFO buffer.
• Selects ID priority transmission or transmit buffer number priority transmission.
• Transmit request can be aborted (possible to confirm with the flag)
• One-shot transmission function
Interval transmission
function
Sets message transmission interval time (transmit mode of transmit/receive FIFO buffers)
Transmit history function Stores the history information of transmitted messages.
1
Communication speed (CANi bit time clock) =
CANi bit time
CANiTq =
(BRP[9:0] bits in the CiCFGL register + 1)
f
CAN
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