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18. CAN Module .................................................................................................................... 198
18.1 CAN Module-Related Registers ............................................................................................................. 199
18.1.1 CAN Message Box.........................................................................................................................199
18.1.2 Acceptance Mask Registers........................................................................................................... 199
18.1.3 CAN SFR Registers ....................................................................................................................... 199
18.2 CAN0 Message Box............................................................................................................................... 200
18.3 Acceptance Mask Registers................................................................................................................... 202
18.4 CAN SFR Registers ...............................................................................................................................203
18.5 Operational Modes................................................................................................................................. 210
18.5.1 CAN Reset/Initialization Mode ....................................................................................................... 210
18.5.2 CAN Operation Mode..................................................................................................................... 211
18.5.3 CAN Sleep Mode ........................................................................................................................... 211
18.5.4 CAN Interface Sleep Mode ............................................................................................................ 211
18.5.5 Bus Off State..................................................................................................................................212
18.6 Configuration CAN Module System Clock ............................................................................................. 213
18.7 Bit Timing Configuration .........................................................................................................................213
18.8 Bit-rate ...................................................................................................................................................214
18.9 Acceptance Filtering Function and Masking Function............................................................................ 215
18.10 Acceptance Filter Support Unit (ASU).................................................................................................. 216
18.11 Basic CAN Mode ..................................................................................................................................217
18.12 Return from Bus off Function ............................................................................................................... 218
18.13 Time Stamp Counter and Time Stamp Function .................................................................................. 218
18.14 Listen-Only Mode ................................................................................................................................. 218
18.15 Reception and Transmission................................................................................................................ 219
18.15.1 Reception .....................................................................................................................................220
18.15.2 Transmission ................................................................................................................................ 221
18.16 CAN Interrupt .......................................................................................................................................222
19. Programmable I/O Ports ................................................................................................. 223
19.1 PDi Register ........................................................................................................................................... 224
19.2 Pi Register, PC14 Register .................................................................................................................... 224
19.3 PURj Register ........................................................................................................................................ 224
19.4 PCR Register .........................................................................................................................................224
20. Flash Memory Version .................................................................................................... 235
20.1 Memory Map ..........................................................................................................................................236
20.1.1 Boot Mode......................................................................................................................................237
20.2 Functions to Prevent Flash Memory from Rewriting ..............................................................................237
20.2.1 ROM Code Protect Function ..........................................................................................................237
20.2.2 ID Code Check Function ................................................................................................................237
20.3 CPU Rewrite Mode ................................................................................................................................ 239
20.3.1 EW0 Mode .....................................................................................................................................240
20.3.2 EW1 Mode .....................................................................................................................................240
20.3.3 FMR0, FMR1 Registers ................................................................................................................. 241
20.3.4 Precautions on CPU Rewrite Mode ............................................................................................... 245
20.3.5 Software Commands .....................................................................................................................247
20.3.6 Data Protect Function .................................................................................................................... 252
20.3.7 Status Register (SRD Register) ..................................................................................................... 252
20.3.8 Full Status Check ...........................................................................................................................254