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753
CAN Controller (CAN)
Chapter 19
Preliminary User’s Manual U17566EE1V2UM00
Figure 19-42
Transmission via software polling
Caution
The TRQ bit should be set after the RDY bit is set.
The RDY bit and TRQ bit should not be set at the same time.
START
END
Read CnTGPT register.
CINTS0 bit = 1?
TOVF bit = 1?
Clear TOVF bit.
Clear TOVF bit = 1
THPM bit = 1?
Yes
No
Yes
No
Yes
No
Clear CINTS0 bit.
Clear CINTS0 bit = 1
Clear RDY bit.
Set RDY bit = 0
Clear RDY bit = 1
Set RDY bit.
Set RDY bit = 1
Clear RDY bit = 0
Set TRQ bit.
Set TRQ bit = 1
Clear TRQ bit = 0
RDY bit = 0?
No
Yes
Data frame
or
remote frame?
Set RTR bit of CnMDLCm
register and CnMCONFm
register.
Set CnMIDLm and
CnMIDHm registers.
Clear RTR bit of
CnMDATAxm register,
CnMDLCm register, and
CnMCONFm register.
Set CnMIDLm and
CnMIDHm registers.
Remote frame
Data frame
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