CR16MCS5VJI8 Datasheet

IC型号：
CR16MCS5VJI8
PDF描述：
Family of 16-bit CAN-enabled CompactRISC Microcontrollers
文件大小：
713.21KB
PDF页数：
156页
芯片厂家：
NSC

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20.2

BASIC CAN CONCEPTS

This section provides a generic overview of the basic con-

cepts of the Controller Area Network (CAN).

The CAN protocol is a message based protocol that allows a

total of 2032 ( = 2

-16) different messages in the standard

format and 512 million ( = 2

-16) different messages in the

extended frame format.

Every CAN Frame is broadcasted on the common bus. Each

module receives every frame and filters out the frames which

are not required for the module's task. For example, if a

dashboard sends a request to switch on headlights, the CAN

module responsible for brake lights must not process this

message.

A CAN master module has the ability to set a specific bit

called the 鈥渞emote data request bit鈥?(RTR) in a frame. Such a

message is also called 鈥淩emote Frame鈥? It causes another

module, either another master or a slave which accepts this

remote frame, to transmit a data frame after the remote

frame has been completed.

Additional modules can be added to an existing network with-

out a configuration change. These modules can either per-

form completely new functions requiring new data, or

process existing data to perform a new functionality.

As the CAN network is message oriented, a message can be

used as a variable which is automatically updated by the con-

trolling processor. If any module cannot process information,

it can send an overload frame.

The CAN protocol allows several transmitting modules to

start a transmission at the same time as soon as they monitor

the bus to be idle. During the start of transmission, every

node monitors the bus line to detect whether its message is

overwritten by a message with a higher priority. As soon as a

transmitting module detects another module with a higher

priority accessing the bus, it stops transmitting its own frame

and switches to receive mode. For illustration, see Figure45.

TxPIN

MODULE A

RxPIN

TxPIN

MODULE B

RxPIN

BUS LINE

RECESSIVE

DOMINANT

MODULE A SUSPENDS TRANSMISSION

Figure 45.

CAN message arbitration

Data and remote frames can be used in both standard and

extended frame format. If no message is being transmitted,

i.e., the bus is idle, the bus is kept at the 鈥榬ecessive鈥?level.

Remote and data frames are non-return to zero (NRZ) coded

with bit-stuffing in every bit field, which holds computable in-

formation for the interface, i.e., start of frame, arbitration field,

control field, data field (if present) and CRC field.

Error and overload frames are also NRZ coded but without

bit-stuffing.

After five consecutive bits of the same value (including insert-

ed stuff bits so that the stuffed bit stream will not have more

than five consecutive bits of the same value), a stuff bit of the

inverted value is inserted into the bit stream by the transmit-

ter and deleted by the receiver. The following shows the

stuffed and destuffed bit stream for consecutive ones and ze-

ros.

If a data or remote frame loses arbitration on the bus due to

a higher-prioritized data or remote frame, or if it is destroyed

by an error frame, the transmitting module will automatically

retransmit it until the transmission was successful or the user

has canceled the transmit request.

If a transmitted message loses arbitration, the CR16CAN will

restart transmission at the next possible time with the mes-

sage which has the highest internal transmit priority.

20.2.1

CAN Frame Formats

Communication via the CAN bus is basically established by

means of four different frame types:

鈥?/div>

data frame

remote frame

error frame

overload frame

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