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Programming MicrocontrollerCAN – Analog Digital Converter

Autumn term 2008

32K Byte 32K Byte Burst FlashBurst Flash

64K or 96K 64K or 96K Byte SRAM Byte SRAM

256K or 512K 256K or 512K Byte Burst Byte Burst

FlashFlash

OTP OTP MemMem

UARTUARTI2CI2CSPISPITIMTIMRTCRTC

EXT. EXT. Bus Bus

GPIOGPIO

USB USB 2.0FS 2.0FS

CAN CAN 2.0B 2.0B

Enet Enet MAC MAC

PFPFQ Q

BC BC

DMADMA

INTINTR R

CntlCntl

ARM96ARM966E 6E CORE CORE

w/DSPw/DSP96 MHz 96 MHz

CLK CLK CntlCntl

ADCADC

LVD LVD BODBOD

PLLPLL JTAJTAGG

ETMETM99

STR912FW44

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CAN

Introduction CAN Pin assignments CAN Properties Bus Properties Transmission rates Serial data format Bus access CAN features CAN diagram CAN register map CAN configuration Pin configuration

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CAN (Controller Area Network) has been developed in 1981 Robert Bosch GmbH and Intel

CAN was originally planed for the car industry CAN is also established in the automation and medicinal industry

The CiA (CAN in Automation) has defined many industrial standards www.can‑cia.org

Introduction

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CAN pin assignmentsD-Sub male on PC

PinDB9

Symbol Text

1 - Reserved

2 CAN_L CAN_L bus line dominant low

3 CAN_GND CAN Ground

4 - Reserved

5 (CAN_SHIELD)

Optional CAN Shield

6 (GND) Optional Ground

7 CAN_H CAN_H bus line dominant high

8 - Reserved

9 (CAN_V+) Optional CAN external power supply

Male -> SteckerFemale -> Buchse

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MS_uC / dnd / V08CAN Properties

Nods number 30

Bus length 40 until 5000 m, in function of the transmission rate

Bus management System Multi-Master, but it can also be used with a Master/Slave architecture

Access methodology

Carrier Sense Multiple Access/Collision Avoidance (CSMA/CA) ID priority

Standards CAN 2.0A (11 bit ID)CAN 2.0B (29 bit ID)

Transmission rates

max. 1 M bit/s

Bytes transmitted per telegram

max. 8

Cable Two cables for the data and identifiers

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BUS properties

The data are transmitted in a differential way Reduction of the ambiance noise

The bus contains the following levels Dominant (logical low level) Recessive (logical high level)

CAN-L (Dominant low)

CAN-H (Dominant high)

CAN Node 1

CAN Node 2

12

0

12

0

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Transmission rate

Transmission rate (Baud) [kBit/s]

Maximum length of the network

1000 25

500 100

250 250

125 500

50 1000

20 2500

10 5000

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SO

F

Ident

RT

R

IDE

r0

DLC Data CRC

arbitration field

control field

data field CRC field

ack field

AC

K

EOF IFS

11 0..64 15 7 3 4

Bus idle

Bus idle

Serial data format (logical representation)

SOF: Sart Of Frame Ident: Identifier IDE: Identifier Extension Bit

DLC: Data Length Code

Data CRC: Cyclic Redundancy

Check ACK: Acknowledge Bit EOF: End Of Frame IFS: Inter Frame Space

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CAN Bus Arbitration Method

Identifier

SO

F

10 9 8 7 6 5 4 3 2 1 0 RT

R

Control and Data field

Participant 1 (1631)

Participant 2 (1663)

Participant 3 (1625)

Bus level

Participant 2 goes back

Participant 1 goes back

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CAN features

Support CAN protocol version 2.0 part A and B Bit rates up to 1 MBits/s 32 Message Objects Each Message Object has its own identifier mask Programmable FIFO Mask able interrupt Disable Automatic Re-Transmission mode for Timer

Triggered CAN applications Programmable loop-back mode for test operation Two 16-bit module interfaces to the APB bus

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CAN diagram

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CAN register map (1/2)

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CAN register map (2/2)

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CAN Control Register (CAN_CR)

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CAN Status Register (CAN_SR)

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CAN Bit Timing Register (CAN_BTR)

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CAN Configuration (1/2)

Configure the operating mode Register: CAN_CR The library function: CAN_Init

Structure variable member: CAN_ConfigParameters

Configure the bit rate Register: CAN_BTR The library function: CAN_Init

Structure variable member: CAN_Bitrate

Configure the transmit and receive messages Message interface register sets The bibliotheca functions

CAN_SetTxMsgObj and CAN_SetRxMsgObj

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CAN Configuration (2/2)

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Pin connections of CAN (1/2)

STR91x ARM966 manual 12274.pdf, 4.1 pin functions page 36

P5.0 CAN_RX Alternate Input 1P5.1 CAN_TX Alternate Output 2

Use CAN port of MCBSTR9. Which port?

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Pin Connections of CAN (2/2)