(11)
13.2.8 CAN Interrupt Related Registers ..........................................................13-22
13.2.9 CAN Mask Registers ............................................................................13-30
13.2.10 CAN Message Slot Control Registers.................................................13-34
13.2.11 CAN Message Slots............................................................................13-38
13.3 CAN Protocol...............................................................................................13-53
13.3.1 CAN Protocol Frame.............................................................................13-53
13.4 Initializing the CAN Module........................................................................13-56
13.4.1 Initialization of the CAN Module............................................................13-56
13.5 Transmitting Data Frames..........................................................................13-59
13.5.1 Data Frame Transmit Procedure ..........................................................13-59
13.5.2 Data Frame Transmit Operation ...........................................................13-61
13.5.3 Transmit Abort Function .......................................................................13-62
13.6 Receiving Data Frames ..............................................................................13-63
13.6.1 Data Frame Receive Procedure ...........................................................13-63
13.6.2 Data Frame Receive Operation ............................................................13-65
13.6.3 Reading Out Received Data Frames....................................................13-67
13.7 Transmitting Remote Frames ....................................................................13-69
13.7.1 Remote Frame Transmit Procedure .....................................................13-69
13.7.2 Remote Frame Transmit Operation ......................................................13-71
13.7.3
Reading Out Received Data Frames when Set for Remote Frame Transmission ..
13-74
13.8 Receiving Remote Frames .........................................................................13-76
13.8.1 Remote Frame Receive Procedure ......................................................13-76
13.8.2 Remote Frame Receive Operation .......................................................13-78
CHAPTER 14 REAL-TIME DEBUGGER (RTD)
14.1 Outline of the Real-Time Debugger (RTD) ..................................................14-2
14.2 Pin Function of the RTD ...............................................................................14-3
14.3 Functional Description of the RTD..............................................................14-4
14.3.1 Outline of RTD Operation .......................................................................14-4
14.3.2 Operation of RDR (Real-time RAM Content Output) ..............................14-5
14.3.3 Operation of WRR (RAM Content Forcible Rewrite) ..............................14-7
14.3.4 Operation of VER (Continuous Monitor) .................................................14-9