Chapter 23 Controller Area Network (CAN).pdf
Chapter 23 Controller Area Network (CAN).pdf
Chapter 23 Controller Area Network (CAN).pdf
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<strong>23</strong>.3.14.1 Configuration of a Transmit Object for Data Frames<br />
Table <strong>23</strong>-4 shows how a transmit object can be initialized.<br />
Table <strong>23</strong>-4. Initialization of a Transmit Object<br />
MsgVal Arb Data Mask EoB Dir NewDat MsgLst RxIE TxIE IntPnd RmtEn TxRqst<br />
1 appl. appl. appl. 1 1 0 0 0 appl. 0 appl. 0<br />
The arbitration bits (ID[28:0] and Xtd bit) are given by the application. They define the identifier and type of<br />
the outgoing message. If an 11-bit identifier (standard frame) is used (Xtd = ‘0’), it is programmed to<br />
ID[28:18]. In this case, ID[17:0] can be ignored.<br />
The data registers (DLC[3:0] and Data0-7) are given by the application. TxRqst and RmtEn should not be<br />
set before the data is valid.<br />
If the TxIE bit is set, the IntPnd bit will be set after a successful transmission of the message object.<br />
If the RmtEn bit is set, a matching received remote frame will cause the TxRqst bit to be set; the remote<br />
frame will autonomously be answered by a data frame.<br />
The mask bits (Msk[28:0], UMask, MXtd, and MDir bits) may be used (UMask=’1’) to allow groups of<br />
remote frames with similar identifiers to set the TxRqst bit. The Dir bit should not be masked. For details,<br />
see Section <strong>23</strong>.3.15.8. Identifier masking must be disabled (UMask = ‘0’) if no remote frames are allowed<br />
to set the TxRqst bit (RmtEn = ‘0’).<br />
<strong>23</strong>.3.14.2 Configuration of a Transmit Object for Remote Frames<br />
It is not necessary to configure transmit objects for the transmission of remote frames. Setting TxRqst for<br />
a receive object causes the transmission of a remote frame with the same identifier as the data frame for<br />
which this receive object is configured.<br />
<strong>23</strong>.3.14.3 Configuration of a Single Receive Object for Data Frames<br />
Table <strong>23</strong>-5 shows how a receive object for data frames can be initialized.<br />
Table <strong>23</strong>-5. Initialization of a single Receive Object for Data Frames<br />
MsgVal Arb Data Mask EoB Dir NewDat MsgLst RxIE TxIE IntPnd RmtEn TxRqst<br />
1 appl. appl. appl. 1 0 0 0 appl. 0 0 0 0<br />
The arbitration bits (ID[28:0] and Xtd bit) are given by the application. They define the identifier and type of<br />
accepted received messages. If an 11-bit Identifier (standard frame) is used (Xtd = ‘0’), it is programmed<br />
to ID[28:18]. In this case, ID[17:0] can be ignored. When a data frame with an 11-bit Identifier is received,<br />
ID[17:0] is set to ‘0’.<br />
The data length code (DLC[3:0]) is given by the application. When the message handler stores a data<br />
frame in the message object, it will store the received data length code and eight data bytes. If the data<br />
length code is less than 8, the remaining bytes of the message object may be overwritten by non specified<br />
values.<br />
The mask bits (Msk[28:0], UMask, MXtd, and MDir bits) may be used (UMask = ’1’) to allow groups of<br />
data frames with similar identifiers to be accepted. The Dir bit should not be masked in typical<br />
applications. If some bits of the mask bits are set to “don’t care,” the corresponding bits of the arbitration<br />
register will be overwritten by the bits of the stored data frame.<br />
If the RxIE bit is set, the IntPnd bit will be set when a received data frame is accepted and stored in the<br />
message object.<br />
If the TxRqst bit is set, the transmission of a remote frame with the same identifier as actually stored in the<br />
arbitration bits will be triggered. The content of the arbitration bits may change if the mask bits are used<br />
(UMask = ’1’) for acceptance filtering.<br />
4056 <strong>Controller</strong> <strong>Area</strong> <strong>Network</strong> (<strong>CAN</strong>) SPRUH73E–October 2011–Revised May 2012<br />
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