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A-4
16. A/D Converter.................................................................................................................. 202
16.1 Mode Description ...................................................................................................................................206
16.1.1 One-shot Mode ..............................................................................................................................206
16.1.2 Repeat Mode .................................................................................................................................208
16.1.3 Single Sweep Mode ....................................................................................................................... 210
16.1.4 Repeat Sweep Mode 0 ..................................................................................................................212
16.1.5 Repeat Sweep Mode 1 ..................................................................................................................214
16.2 Function .................................................................................................................................................216
16.2.1 Resolution Select Function ............................................................................................................ 216
16.2.2 Sample and Hold ...........................................................................................................................216
16.2.3 Extended Analog Input Pins........................................................................................................... 216
16.2.4 External Operation Amplifier (Op-Amp) Connection Mode ............................................................216
16.2.5 Current Consumption Reducing Function ...................................................................................... 217
16.2.6 Output Impedance of Sensor under A/D Conversion .....................................................................217
17. D/A Converter.................................................................................................................. 219
18. CRC Calculation.............................................................................................................. 221
19. CAN Module .................................................................................................................... 223
19.1 CAN Module-Related Registers ............................................................................................................. 224
19.1.1 CAN Message Box.........................................................................................................................224
19.1.2 Acceptance Mask Registers........................................................................................................... 224
19.1.3 CAN SFR Registers ....................................................................................................................... 224
19.2 CANi Message Box ................................................................................................................................ 225
19.3 Acceptance Mask Registers................................................................................................................... 227
19.4 CAN SFR Registers ...............................................................................................................................228
19.5 Operational Modes................................................................................................................................. 234
19.5.1 CAN Reset/Initialization Mode ....................................................................................................... 234
19.5.2 CAN Operation Mode.....................................................................................................................235
19.5.3 CAN Sleep Mode ........................................................................................................................... 235
19.5.4 CAN Interface Sleep Mode ............................................................................................................ 235
19.5.5 Bus Off State..................................................................................................................................236
19.6 Configuration CAN Module System Clock ............................................................................................. 237
19.7 Bit Timing Configuration .........................................................................................................................237
19.8 Bit-rate ...................................................................................................................................................238
19.8.1 Calculation of Bit-rate.....................................................................................................................238
19.9 Acceptance Filtering Function and Masking Function............................................................................ 239
19.10 Acceptance Filter Support Unit (ASU).................................................................................................. 240
19.11 Basic CAN Mode ..................................................................................................................................241
19.12 Return from Bus Off Function .............................................................................................................. 242
19.13 Time Stamp Counter and Time Stamp Function .................................................................................. 242
19.14 Listen-Only Mode ................................................................................................................................. 242
19.15 Reception and Transmission................................................................................................................ 243
19.15.1 Reception .....................................................................................................................................244
19.15.2 Transmission ................................................................................................................................ 245
19.16 CAN Interrupt .......................................................................................................................................246