ST72561R9 STMicroelectronics, ST72561R9 Datasheet - Page 192

• Manufacturer Part Number: ST72561R9
• Description: 8-BIT MCU WITH FLASH OR ROM, 10-BIT ADC, 5 TIMERS, SPI, LINSCI(TM), ACTIVE CAN
• Manufacturer: STMicroelectronics

Specifications of ST72561R9

• Hdflash Endurance: 100 cycles, data retention 40 years at 85°C
• 5 Power Saving Modes: Halt, Auto Wake Up From Halt, Active Halt, Wait and Slow

ST72561
beCAN CONTROLLER (Cont’d)
10.9.8 Register Description
10.9.8.1 Control and Status Registers
CAN MASTER CONTROL REGISTER (CMCR)
Reset Value: 0000 0010 (02h)
Bit 7 = Reserved, must be kept cleared.
Bit 6 = ABOM Automatic Bus-Off Management
- Read/Set/Clear
This bit controls the behaviour of the CAN hard-
ware on leaving the Bus-Off state.
0: The Bus-Off state is left on software request.
1: The Bus-Off state is left automatically by hard-
For detailed information on the Bus-Off state
please refer to
Bit 5 = AWUM Automatic Wake-Up Mode
- Read/Set/Clear
This bit controls the behaviour of the CAN hard-
ware on message reception during sleep mode.
0: The sleep mode is left on software request by
1: The sleep mode is left automatically by hard-
Bit 4 = NART No Automatic Retransmission
0: The CAN hardware will automatically retransmit
1: A message will be transmitted only once, inde-
192/265
Refer to
Bus-Off recovery.
ware once 128 x 11 recessive bits have been
monitored.
clearing the SLEEP bit of the CMCR register.
ware on CAN message detection. The SLEEP
bit of the CMCR register and the SLAK bit of the
CMSR register are cleared by hardware.
- Read/Set/Clear
the message until it has been successfully
transmitted according to the CAN standard.
pendently of the transmission result (successful,
error or arbitration lost).
7
0
ABOM AWUM NART RFLM TXFP SLEEP INRQ
Section 0.1.4.5 Error
Section 0.1.4.5 Error
Management,
Management.
0
Bit 3 = RFLM Receive FIFO Locked Mode
- Read/Set/Clear
0: Receive FIFO not locked on overrun. Once a re-
1: Receive FIFO locked against overrun. Once a
Bit 2 = TXFP Transmit FIFO Priority
- Read/Set/Clear
This bit controls the transmission order when sev-
eral mailboxes are pending at the same time.
0: Priority driven by the identifier of the message
1: Priority driven by the request order (chronologi-
Bit 1 = SLEEP Sleep Mode Request
- Read/Set/Clear
This bit is set by software to request the CAN hard-
ware to enter the sleep mode. Sleep mode will be
entered as soon as the current CAN activity (trans-
mission or reception of a CAN frame) has been
completed.
This bit is cleared by software to exit sleep mode.
This bit is cleared by hardware when the AWUM
bit is set and a SOF bit is detected on the CAN Rx
signal.
Bit 0 = INRQ Initialization Request
- Read/Set/Clear
The software clears this bit to switch the hardware
into normal mode. Once 11 consecutive recessive
bits have been monitored on the Rx signal the
CAN hardware is synchronized and ready for
transmission and reception. Hardware signals this
event by clearing the INAK bit if the CMSR regis-
ter.
Software sets this bit to request the CAN hardware
to enter initialization mode. Once software has set
the INRQ bit, the CAN hardware waits until the
current CAN activity (transmission or reception) is
completed before entering the initialization mode.
Hardware signals this event by setting the INAK bit
in the CMSR register.
ceive FIFO is full the next incoming message
will overwrite the previous one.
receive FIFO is full the next incoming message
will be discarded.
cally)