Microcontroller User's Manual

CONTENTS
Paragraph
Number
Title
Page
Number
MOTOROLA Contents xvii
24.4.4 Clock Stretching ........................................................................................... 24-5
24.5 Programming Model ......................................................................................... 24-6
24.5.1 I
2
C Address Register (I2ADR)..................................................................... 24-6
24.5.2 I
2
C Frequency Divider Register (I2FDR)..................................................... 24-7
24.5.3 I
2
C Control Register (I2CR)......................................................................... 24-8
24.5.4 I
2
C Status Register (I2SR)............................................................................ 24-9
24.5.5 I
2
C Data I/O Register (I2DR) ..................................................................... 24-10
24.6 I
2
C Programming Examples ........................................................................... 24-10
24.6.1 Initialization Sequence................................................................................ 24-10
24.6.2 Generation of START................................................................................. 24-11
24.6.3 Post-Transfer Software Response............................................................... 24-11
24.6.4 Generation of STOP.................................................................................... 24-12
24.6.5 Generation of Repeated START................................................................. 24-13
24.6.6 Slave Mode ................................................................................................. 24-13
24.6.7 Arbitration Lost........................................................................................... 24-14
Chapter 25
FlexCAN
25.1 Features............................................................................................................. 25-1
25.1.1 FlexCAN Memory Map................................................................................ 25-3
25.1.2 External Signals ............................................................................................ 25-3
25.2 The CAN System .............................................................................................. 25-4
25.3 Message Buffers ............................................................................................... 25-4
25.3.1 Message Buffer Structure ............................................................................. 25-4
25.3.2 Message Buffer Memory Map...................................................................... 25-7
25.4 Functional Overview......................................................................................... 25-8
25.4.1 Transmit Process........................................................................................... 25-9
25.4.2 Receive Process ............................................................................................ 25-9
25.4.3 Message Buffer Handling ........................................................................... 25-10
25.4.4 Remote Frames ........................................................................................... 25-12
25.4.5 Overload Frames......................................................................................... 25-13
25.4.6 Time Stamp................................................................................................. 25-13
25.4.7 Listen-Only Mode....................................................................................... 25-13
25.4.8 Bit Timing................................................................................................... 25-14
25.4.9 FlexCAN Error Counters............................................................................ 25-15
25.4.10 FlexCAN Initialization Sequence ............................................................... 25-16
25.4.11 Special Operating Modes............................................................................ 25-17
25.4.12 Interrupts..................................................................................................... 25-19
25.5 Programmer’s Model ...................................................................................... 25-20
25.5.1 CAN Module Configuration Register (CANMCR).................................... 25-20
25.5.2 FlexCAN Control Register 0 (CANCTRL0).............................................. 25-22