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18. CAN Module .................................................................................................................... 202
18.1 CAN Module-Related Registers ............................................................................................................. 203
18.1.1 CAN Message Box.........................................................................................................................203
18.1.2 Acceptance Mask Registers........................................................................................................... 203
18.1.3 CAN SFR Registers ....................................................................................................................... 203
18.2 CANi Message Box ................................................................................................................................ 204
18.3 Acceptance Mask Registers................................................................................................................... 206
18.4 CAN SFR Registers ...............................................................................................................................207
18.5 Operational Modes................................................................................................................................. 213
18.5.1 CAN Reset/Initialization Mode ....................................................................................................... 213
18.5.2 CAN Operation Mode.....................................................................................................................214
18.5.3 CAN Sleep Mode ...........................................................................................................................214
18.5.4 CAN Interface Sleep Mode ............................................................................................................ 214
18.5.5 Bus Off State..................................................................................................................................215
18.6 Configuration CAN Module System Clock ............................................................................................. 216
18.7 Bit Timing Configuration .........................................................................................................................216
18.8 Bit-rate ...................................................................................................................................................217
18.9 Acceptance Filtering Function and Masking Function............................................................................ 218
18.10 Acceptance Filter Support Unit (ASU).................................................................................................. 219
18.11 Basic CAN Mode ..................................................................................................................................220
18.12 Return from Bus off Function ............................................................................................................... 221
18.13 Time Stamp Counter and Time Stamp Function .................................................................................. 221
18.14 Listen-Only Mode ................................................................................................................................. 221
18.15 Reception and Transmission................................................................................................................ 222
18.15.1 Reception .....................................................................................................................................223
18.15.2 Transmission ................................................................................................................................ 224
18.16 CAN Interrupt .......................................................................................................................................225
19. Programmable I/O Ports ................................................................................................. 226
19.1 PDi Register ........................................................................................................................................... 227
19.2 Pi Register, PC14 Register .................................................................................................................... 227
19.3 PURj Register ........................................................................................................................................ 227
19.4 PCR Register .........................................................................................................................................227
20. Flash Memory Version .................................................................................................... 238
20.1 Memory Map ..........................................................................................................................................239
20.1.1 Boot Mode......................................................................................................................................240
20.2 Functions to Prevent Flash Memory from Rewriting ..............................................................................240
20.2.1 ROM Code Protect Function ..........................................................................................................240
20.2.2 ID Code Check Function ................................................................................................................240
20.3 CPU Rewrite Mode ................................................................................................................................ 242
20.3.1 EW0 Mode .....................................................................................................................................243
20.3.2 EW1 Mode .....................................................................................................................................243
20.3.3 FMR0, FMR1 Registers ................................................................................................................. 244
20.3.4 Precautions on CPU Rewrite Mode ............................................................................................... 248
20.3.5 Software Commands .....................................................................................................................250
20.3.6 Data Protect Function .................................................................................................................... 255
20.3.7 Status Register (SRD Register) ..................................................................................................... 255
20.3.8 Full Status Check ...........................................................................................................................257