
MOTOROLA
vi
CAN PROTOCOL
Rev. 3
TABLE OF CONTENTS
For More Information On This Product,
Go to: www.freescale.com
Paragraph
Number
Page
Number
TABLE OF CONTENTS
13
BIT TIMING REQUIREMENTS
13.1
13.2
13.3
13.4
13.5
13.6
13.7
13.8
13.8.1
13.9
13.9.1
13.9.2
13.9.3
13.9.4
13.9.5
Nominal bit rate................................................................................................... 13-1
Nominal bit time................................................................................................... 13-1
SYNC_SEG......................................................................................................... 13-2
PROP_SEG......................................................................................................... 13-2
PHASE_SEG1, PHASE_SEG2........................................................................... 13-2
Sample point ....................................................................................................... 13-2
Information processing time................................................................................ 13-2
Time quantum ..................................................................................................... 13-2
Length of time segments ............................................................................... 13-3
Synchronization................................................................................................... 13-4
Hard synchronization..................................................................................... 13-4
Resynchronization jump width....................................................................... 13-4
Phase error of an edge.................................................................................. 13-4
Resynchronization......................................................................................... 13-4
Synchronization rules.................................................................................... 13-5
A
THE MOTOROLA CAN (MCAN) MODULE
A.1
A.1.1
A.1.2
A.1.3
A.1.4
A.1.5
A.1.6
A.1.7
A.2
A.2.1
A.2.2
A.2.3
A.2.4
A.2.5
A.2.6
A.2.7
A.2.8
A.2.9
A.2.10
A.2.11
A.2.12
A.2.13
A.2.14
Functional overview...............................................................................................A-1
IML – interface management logic...................................................................A-1
TBF – transmit buffer.......................................................................................A-3
RBF – receive buffer........................................................................................A-3
BSP – bit stream processor.............................................................................A-3
BTL – bit timing logic .......................................................................................A-4
TCL – transceive logic.....................................................................................A-4
EML – error management logic .......................................................................A-4
MCAN interface.....................................................................................................A-5
CIL – controller interface unit...........................................................................A-5
Address allocation ...........................................................................................A-6
Control registers ..............................................................................................A-7
MCAN control register (CCNTRL) ...................................................................A-7
MCAN command register (CCOM)..................................................................A-9
MCAN status register (CSTAT)........................................................................A-11
MCAN interrupt register (CINT).......................................................................A-13
MCAN acceptance code register (CACC) .......................................................A-14
MCAN acceptance mask register (CACM)......................................................A-15
MCAN bus timing register 0 (CBT0)................................................................A-15
MCAN bus timing register 1 (CBT1)................................................................A-17
MCAN output control register (COCNTRL) .....................................................A-19
Transmit buffer identifier register (TBI).............................................................A-21
Remote transmission request and data length code register (TRTDL) ...........A-22
F
.
Freescale Semiconductor, Inc.