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Controller Area Network (CAN)

Controller Area Network (CAN). Lecture 5.1. Reference. S12MSCANV2.pdf. MSCAN Block Guide V02.14. PIM_9C32 Block Diagram. CAN module. PCA82C250 / 251 CAN Transceiver. Bit time =2500ns. 0.4 Mbps. 3m. =2(15ns + 150ns) = 330ns. 4MHz. 2. 250ns. 2500/250 = 10. 330/250 = 2. 2. 10.

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Controller Area Network (CAN)

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  1. Controller Area Network(CAN) Lecture 5.1

  2. Reference S12MSCANV2.pdf MSCAN Block Guide V02.14

  3. PIM_9C32 Block Diagram CAN module

  4. PCA82C250 / 251 CAN Transceiver

  5. Bit time =2500ns 0.4 Mbps 3m =2(15ns + 150ns) = 330ns

  6. 4MHz 2 250ns 2500/250 = 10 330/250 = 2 2 10 7 so PROP_SEG = 3, PHASE_SEG1 = 3 and PHASE_SEG2 = 3 RJW = 3

  7. 3 20x10 = 0.015 3 2(127) = 0.0118 2 10 3 3 3 3 1.18%

  8. $141 BSET CANCTL1,#$80 ;turn on CAN

  9. $141 ;place CAN in init mode CAN_INI BSET CANCTL0,#$01 BRCLR CANCTL1,#$01,CAN_INI

  10. $140

  11. $141 ;Bus clock, listen off LDAA #$C0 STAA CANCLT1

  12. $141

  13. $140

  14. $140 ;CSWAI,WUPE,TIME,SLPRQ off BCLR CANCTL0,#$2E

  15. $140 ;CSWAI,WUPE,TIME,SLPRQ off BCLR CANCTL0,#$2E

  16. 1 3 + 3 = 6 3

  17. $142 1 0

  18. $142 1 0 0 0 0 0 0 1 MOVB #$81,CANBTR0 Prescale = 2

  19. $143

  20. $143 0 0 1 0 TSEG2 = 3 0 1 0 3 Tq clock cycles

  21. 0 0 1 0 0 1 0 1 $143 TSEG1 = 6 0 1 0 1 6 Tq clock cycles MOVB #$25,CANBTR1

  22. ID = 127 ID = 1 IDR0 = $00 IDR1 = $18 IDR2 = $00 IDR3 = $02 IDR0 = $00 IDR1 = $18 IDR2 = $00 IDR3 = $FE

  23. $150 $151 $152 $153

  24. $158 $159 $15A $15B

  25. $154 $155 $156 $157

  26. $15C $15D $15E $15F

  27. $14B MOVB #$00,CANIDAC

  28. ID = 127 $FFFF0001 $FFFF0001 $001800FE

  29. ID = 1 $FFFF0001 $FFFF0001 $00180002

  30. ;Acceptance & Mask registers MOVW #$0018,CAN0IDA0 ; ID = $0018 MOVW #$00FE,CAN0IDA2 ; ID = $00FE MOVW #$FFFF,CAN0IDM0 ; filter = $FFFF MOVW #$0001,CAN0IDM2 ; filter = $0001 MOVW #$0018,CAN0IDA4 ; ID = $0018 MOVW #$0002,CAN0IDA6 ; ID = $0002 MOVW #$FFFF,CAN0IDM4 ; filter = $FFFF MOVW #$0001,CAN0IDM6 ; filter = $0001

  31. EXIT CAN INIT MODE $140 BCLR CANCTL0,#$01

  32. $140 ;wait for sync SYNC BRCLR CANCTL0,#$10,SYNC

  33. LDAB DLR ANDB #$0F

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