MOTOROLA
viii
CAN PROTOCOL
Rev. 3
TABLE OF CONTENTS
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Paragraph
Number
Page
Number
TABLE OF CONTENTS
B.19
B.20
B.20.1
B.20.2
B.20.2.1
B.20.3
B.20.4
B.20.4.1
B.20.4.2
B.21
B.21.1
B.21.2
B.22
B.22.1
B.22.2
B.22.3
B.22.4
B.22.5
B.22.6
B.22.7
B.23
B.23.1
B.23.2
B.23.3
B.23.4
B.23.5
B.24
B.24.1
B.24.2
B.24.3
B.25
B.25.1
B.25.2
B.25.3
B.25.4
TOUCAN initialisation sequence...........................................................................B-15
Special operating modes.......................................................................................B-16
DEBUG mode..................................................................................................B-16
STOP mode.....................................................................................................B-16
STOP mode operation notes......................................................................B-17
Auto Power Save mode ...................................................................................B-18
Support BERR for RISC architechture (BERR_PLUG) ...................................B-19
Modular family (BERR_PLUG = 0) ............................................................B-19
RISC family (BERR_PLUG = 1).................................................................B-19
Interrupts...............................................................................................................B-20
Modular family archtecture (IRQ_PLUG = 0)...................................................B-20
RISC family architecture (IRQ_PLUG = 1) ......................................................B-22
Programmer’s model .............................................................................................B-23
Programming validity .......................................................................................B-25
Reserved bits...................................................................................................B-25
System registers..............................................................................................B-25
MCR — Module configuration register.............................................................B-25
TCR — Test configuration register...................................................................B-29
ICR — Interrupt configuration register (Modular family IRQ_PLUG = 0).........B-29
ICR — Interrupt configuration register (RISC family IRQ_PLUG = 1) .............B-30
Control registers....................................................................................................B-31
CTRL0 — Control register 0............................................................................B-31
CTRL1 — Control register 1............................................................................B-32
PRESDIV — Prescaler divide register.............................................................B-34
CTRL2 — Control register 2............................................................................B-34
TIMER — Free running timer...........................................................................B-35
Rx mask registers..................................................................................................B-35
RXMASK — Rx global mask register ..............................................................B-36
RX14MASK — Rx buffer 14 mask...................................................................B-37
RX15MASK — Rx buffer 15 mask...................................................................B-37
Global information registers ..................................................................................B-38
STATH, STATL — Error and status report registers.........................................B-38
IMASKH, IMASKL— Interrupt mask registers .................................................B-41
IFLAGH, IFLAGL — Interrupt flag registers.....................................................B-41
Error counters..................................................................................................B-42
C
THE MOTOROLA SCALEABLE CAN (MSCAN08) MODULE
C.1
C.2
C.3
C.3.1
C.3.2
C.3.3
Features ................................................................................................................C-1
External Pins.........................................................................................................C-3
Message Storage..................................................................................................C-4
Background......................................................................................................C-4
Receive Structures ..........................................................................................C-5
Transmit Structures..........................................................................................C-7
F
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Freescale Semiconductor, Inc.