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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) ........................................................... 399
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 .................................................................................................... 438
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