Chapter 23 Controller Area Network (CAN).pdf

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DCAN Registers www.ti.com Table 23-14. CAN Control Register (DCAN CTL) Field Descriptions (continued) Bit Field Value Description 0 Init Initialization 0 Normal operation 1 Initialization mode is entered NOTE: The Bus-Off recovery sequence (refer to CAN specification) cannot be shortened by setting or resetting Init bit. If the module goes Bus-Off, it will automatically set the Init bit and stop all bus activities. When the Init bit is cleared by the application again, the module will then wait for 129 occurrences of Bus Idle (129 * 11 consecutive recessive bits) before resuming normal operation. At the end of the bus-off recovery sequence, the error counters will be reset. After the Init bit is reset, each time when a sequence of 11 recessive bits is monitored, a Bit0 error code is written to the error and status register, enabling the CPU to check whether the CAN bus is stuck at dominant or continuously disturbed, and to monitor the proceeding of the bus-off recovery sequence. 23.4.1.2 Error and Status Register (DCAN ES) The error and status register (DCAN ES) is shown in Figure 23-20 and described in Table 23-15. Figure 23-20. Error and Status Register (DCAN ES) 31 16 Reserved R-0 15 11 10 9 8 7 6 5 4 3 2 0 Reserved PDA Wake PER BOff EWarn EPass RxOK TxOK LEC UpPnd R-0 R-0 R/C-0 R/C-0 R-0 R-0 R-0 R/C-0 R/C-0 R/S-111 LEGEND: R = Read only; S = Set by Read; C = Clear by Read; -n = value after reset Bit Field Value Description Table 23-15. Error and Status Register (DCAN ES) Field Descriptions 31-11 Reserved 0 These bits are always read as 0. Writes have no effect. 10 PDA Local power-down mode acknowledge 0 DCAN is not in local power-down mode. 1 Application request for setting DCAN to local power-down mode was successful. DCAN is in local power-down mode. 9 WakeUp Pnd Wake up pending. This bit can be used by the CPU to identify the DCAN as the source to wake up the system. 0 No Wake Up is requested by DCAN. 8 PER Parity error detected 7 BOff Bus-Off state 1 DCAN has initiated a wake up of the system due to dominant CAN bus while module power down. This bit will be reset if error and status register is read. 0 No parity error has been detected since last read access. 1 The parity check mechanism has detected a parity error in the Message RAM. This bit will be reset if error and status register is read. 0 The CAN module is not bus-off state. 1 The CAN module is in bus-off state. 4082 Controller Area Network (CAN) SPRUH73E–October 2011–Revised May 2012 Submit Documentation Feedback Copyright © 2011–2012, Texas Instruments Incorporated
www.ti.com DCAN Registers Table 23-15. Error and Status Register (DCAN ES) Field Descriptions (continued) Bit Field Value Description 6 EWarn Warning state 5 EPass Error passive state 0 Both error counters are below the error warning limit of 96. 1 At least one of the error counters has reached the error warning limit of 96. 0 On CAN Bus error, the DCAN could send active error frames. 1 The CAN core is in the error passive state as defined in the CAN Specification. 4 RxOk Received a message successfully 0 No message has been successfully received since the last time when this bit was read by the CPU. This bit is never reset by DCAN internal events. 1 A message has been successfully received since the last time when this bit was reset by a read access of the CPU (independent of the result of acceptance filtering). This bit will be reset if error and status register is read. 3 TxOk Transmitted a message successfully 0 No message has been successfully transmitted since the last time when this bit was read by the CPU. This bit is never reset by DCAN internal events. 1 A message has been successfully transmitted (error free and acknowledged by at least one other node) since the last time when this bit was reset by a read access of the CPU. This bit will be reset if error and status register is read. 2-0 LEC Last error code. The LEC field indicates the type of the last error on the CAN bus. This field will be cleared to '0' when a message has been transferred (reception or transmission) without error. 0 No error 1 Stuff error: More than five equal bits in a row have been detected in a part of a received message where this is not allowed. 2 Form error: A fixed format part of a received frame has the wrong format. 3 Ack error: The message this CAN core transmitted was not acknowledged by another node. 4 Bit1 error: During the transmission of a message (with the exception of the arbitration field), the device wanted to send a recessive level (bit of logical value '1'), but the monitored bus value was dominant. 5 Bit0 error: During the transmission of a message (or acknowledge bit, or active error flag, or overload flag), the device wanted to send a dominant level (logical value '0'), but the monitored bus level was recessive. During Bus-Off recovery, this status is set each time a sequence of 11 recessive bits has been monitored. This enables the CPU to monitor the proceeding of the Bus-Off recovery sequence (indicating the bus is not stuck at dominant or continuously disturbed). 6 CRC error: In a received message, the CRC check sum was incorrect. (CRC received for an incoming message does not match the calculated CRC for the received data). 7 No CAN bus event was detected since the last time the CPU read the error and status register. Any read access to the error and status register re-initializes the LEC to value '7.' Interrupts are generated by bits PER, BOff and EWarn (if EIE bit in CAN control register is set) and by bits WakeUpPnd, RxOk, TxOk, and LEC (if SIE bit in CAN control register is set). A change of bit EPass will not generate an interrupt. NOTE: Reading the error and status register clears the WakeUpPnd, PER, RxOk and TxOk bits and set the LEC to value '7.' Additionally, the status interrupt value (0x8000) in the interrupt register will be replaced by the next lower priority interrupt value. NOTE: For debug support, the auto clear functionality of error and status register (clear of status flags by read) is disabled when in debug/suspend mode. 23.4.1.3 Error Counter Register (DCAN ERRC) The error counter register (DCAN ERRC) is shown in Figure 23-21 and described in Table 23-16. SPRUH73E–October 2011–Revised May 2012 Controller Area Network (CAN) Submit Documentation Feedback Copyright © 2011–2012, Texas Instruments Incorporated 4083
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