Datasheet

683
SAM9263 [DATASHEET]
Atmel-6249N-ATARM-SAM9263-Datasheet_14-Mar-16
36.8.17 CAN Message Data Low Register
Name: CAN_MDLx [x=0..15]
Address: 0xFFFAC214 [0], 0xFFFAC234 [1], 0xFFFAC254 [2], 0xFFFAC274 [3], 0xFFFAC294 [4],
0xFFFAC2B4 [5], 0xFFFAC2D4 [6], 0xFFFAC2F4 [7], 0xFFFAC314 [8], 0xFFFAC334 [9],
0xFFFAC354 [10], 0xFFFAC374 [11], 0xFFFAC394 [12], 0xFFFAC3B4 [13], 0xFFFAC3D4 [14],
0xFFFAC3F4 [15]
Access: Read/Write
• MDL: Message Data Low Value
When MRDY field is set in the CAN_MSRx, the lower 32 bits of a received message can be read or written by the software
application. Otherwise, the MDL value is locked by the CAN controller to send/receive a new message.
In Receive with overwrite, the CAN controller may modify MDL value while the software application reads MDH and MDL
registers. To check that MDH and MDL do not belong to different messages, the application has to check the MMI field in
the CAN_MSRx. In this mode, the software application must re-read CAN_MDH and CAN_MDL, while the MMI bit in the
CAN_MSRx is set.
Bytes are received/sent on the bus in the following order:
1. CAN_MDL[7:0]
2. CAN_MDL[15:8]
3. CAN_MDL[23:16]
4. CAN_MDL[31:24]
5. CAN_MDH[7:0]
6. CAN_MDH[15:8]
7. CAN_MDH[23:16]
8. CAN_MDH[31:24]
31 30 29 28 27 26 25 24
MDL
23 22 21 20 19 18 17 16
MDL
15 14 13 12 11 10 9 8
MDL
76543210
MDL