參數(shù)資料
型號(hào)： T89C51IC2-SLSIL
廠商： ATMEL CORP
元件分類： 微控制器/微處理器
英文描述： 8-bit Microcontroller with Flash and I2C Interface
中文描述： 8-BIT, FLASH, 20 MHz, MICROCONTROLLER, PQCC44
封裝： PLASTIC, LCC-44
文件頁數(shù)： 79/170頁
文件大?。?/td> 1927K
代理商： T89C51IC2-SLSIL
79
A/T89C51CC01
4129L–CAN–08/05
CAN Controller
The CAN Controller provides all the features required to implement the serial communi-
cation protocol CAN as defined by BOSCH GmbH. The CAN specification as referred to
by ISO/11898 (2.0A and 2.0B) for high speed and ISO/11519-2 for low speed. The CAN
Controller is able to handle all types of frames (Data, Remote, Error and Overload) and
achieves a bitrate of 1-Mbit/sec. at 8 MHz
1
Crystal frequency in X2 mode.
Note:
1. At BRP = 1 sampling point will be fixed.
CAN Protocol
The CAN protocol is an international standard defined in the ISO 11898 for high speed
and ISO 11519-2 for low speed.
Principles
CAN is based on a broadcast communication mechanism. This broadcast communica-
tion is achieved by using a message oriented transmission protocol. These messages
are identified by using a message identifier. Such a message identifier has to be unique
within the whole network and it defines not only the content but also the priority of the
message.
The priority at which a message is transmitted compared to another less urgent mes-
sage is specified by the identifier of each message. The priorities are laid down during
system design in the form of corresponding binary values and cannot be changed
dynamically. The identifier with the lowest binary number has the highest priority.
Bus access conflicts are resolved by bit-wise arbitration on the identifiers involved by
each node observing the bus level bit for bit. This happens in accordance with the "wired
and" mechanism, by which the dominant state overwrites the recessive state. The com-
petition for bus allocation is lost by all nodes with recessive transmission and dominant
observation. All the "losers" automatically become receivers of the message with the
highest priority and do not re-attempt transmission until the bus is available again.
Message Formats
The CAN protocol supports two message frame formats, the only essential difference
being in the length of the identifier. The CAN standard frame, also known as CAN 2.0 A,
supports a length of 11 bits for the identifier, and the CAN extended frame, also known
as CAN 2.0 B, supports a length of 29 bits for the identifier.
Can Standard Frame
Figure 39.
CAN Standard Frames
A message in the CAN standard frame format begins with the "Start Of Frame (SOF)",
this is followed by the "Arbitration field" which consist of the identifier and the "Remote
Transmission Request (RTR)" bit used to distinguish between the data frame and the
data request frame called remote frame. The following "Control field" contains the "IDen-
tifier Extension (IDE)" bit and the "Data Length Code (DLC)" used to indicate the
11-bit identifier
ID10..0
Interframe
Space
4-bit DLC
DLC4..0
CRC
del.
ACK
del.
15-bit CRC
0 - 8 bytes
SOF
RTR IDE
r0
ACK
7 bits
Intermission
3 bits
Bus Idle
Bus Idle
(Indefinite)
Arbitration
Field
Data
Field
Data Frame
Control
Field
End of
Frame
CRC
Field
ACK
Field
Interframe
Space
11-bit identifier
ID10..0
Interframe
Space
4-bit DLC
DLC4..0
CRC
del.
ACK
del.
15-bit CRC
SOF
RTR IDE
r0
ACK
7 bits
Intermission
3 bits
Bus Idle
Bus Idle
(Indefinite)
Arbitration
Field
Remote Frame
Control
Field
End of
Frame
CRC
Field
ACK
Field
Interframe
Space
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