CAN MODULE
13
13-135
32192/32195/32196 Group Hardware Manual
Rev.1.10 REJ09B0123-0110 Apr.06.07
13.8 Receiving Remote Frames
13.8.1 Remote Frame Receive Procedure
The following describes the procedure for receiving remote frames.
(1) Initializing CAN Message Slot Control Register
Initialize the CAN Message Slot Control Register for the slot to be received by writing H’00 to the register.
(2) Confirming that reception is idle
Read the CAN Message Slot Control Register that has been initialized and check the TRSTAT (Transmit/
Receive Status) bit to see that reception has stopped and remains idle. If this bit = "1," it means that the CAN
module is accessing the message slot. Therefore, wait until the bit is cleared to "0."
(3) Setting the receive ID
Set the desired receive ID in the message slot.
(4) Setting CAN Frame Format Select Register
Set the corresponding bit in CAN Frame Format Select to "0" if a standard frame is to be received, or "1" if
an extended frame is to be received.
(5) Setting CAN Message Slot Control Register
1) When automatic response (data frame transmission) for remote frame reception is desired
Write H’60 to the CAN Message Slot Control Register to set the RR (Receive Request) bit and RM
(Remote) bit to "1."
2) When automatic response (data frame transmission) for remote frame reception is to be disabled
Write H’70 to the CAN Message Slot Control Register to set the RR (Receive Request) bit, RM
(Remote) bit and RL (Automatic Response Inhibit) bit to "1."
Note: During BasicCAN mode, slots 30 and 31, although capable of receiving remote frames,
cannot automatically respond to remote frame reception.
