Microchip PIC32MK0512GPK064 Bruksanvisning

Microchip Ikke kategorisert PIC32MK0512GPK064

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© 2018 Microchip Technology Inc. Preliminary DS60001549A-page 56-1
Section 56. Controller Area Network with
Flexible Data-rate (CAN FD)
This section of the manual contains the following major topics:
56.1 Introduction .................................................................................................................. 56-2
56.2 CAN FD Message Frames........................................................................................... 56-5
56.3 Control Registers ......................................................................................................... 56-9
56.4 Modes of Operation ................................................................................................... 56-74
56.5 Configuration..............................................................................................................56-80
56.6 Message Transmission .............................................................................................. 56-89
56.7 Transmit Event FIFO – TEF ....................................................................................... 56-98
56.8 Message Filtering..................................................................................................... 56-105
56.9 Message Reception ................................................................................................. 56-110
56.10 FIFO Behavior.......................................................................................................... 56-117
56.11 Timestamping........................................................................................................... 56-129
56.12 Interrupts.................................................................................................................. 56-130
56.13 Error Handling.......................................................................................................... 56-137
56.14 Related Application Notes........................................................................................ 56-139
56.15 Revision History ....................................................................................................... 56-140
PIC32 Family Reference Manual
DS60001549A-page 56-2 Preliminary © 2018 Microchip Technology Inc.
56.1 INTRODUCTION
CAN Flexible Data-Rate (FD) addresses the increasing demand for bandwidth on CAN buses.
The two enhancements over CAN 2.0B are consists of the following:
Increased data field up to 64 data bytes (currently 8 bytes)
Option to switch to faster bit rate after the arbitration field
Figure 56-1 shows the possible increase in net bit rate due to higher Data Bit Rate (DBR) and
increased data bytes per frame (© Robert Bosch GmbH).
Figure 56-1: Net CAN FD Bit Rate
The CAN FD protocol is defined to allow CAN 2.0 and CAN FD messages to co-exist on the
same bus. This does not imply that non CAN FD controllers can be mixed with CAN FD control-
lers on the same bus. Non CAN FD controllers will generate error frames while receiving a CAN
FD message.
Note: This family reference manual section is meant to serve as a complement to device
data sheets. Depending on the device variant, this manual section may not apply to
all PIC32 devices.
Please consult the note at the beginning of the “Controller Area Network with
Flexible Data-rate (CAN FD)” chapter in the current device data sheet to
determine whether this document supports the device you are using.
Device data sheets and family reference manual sections are available for
download from the Microchip Web site at: http://www.microchip.com
Frame ID: 11-Bit, Bit Rate Arbitration: 1 Mbit
© 2018 Microchip Technology Inc. Preliminary DS60001549A-page 56-3
Section 56. Controller Area Network with Flexible Data-rate (CAN FD)
56.1.1 Features
The CAN FD module has the following features:
General
Nominal (Arbitration) Bit Rate up to 1 Mbps
Data Bit Rate up to 8 Mbps
CAN FD Controller modes:
- Mixed CAN 2.0B and CAN FD mode
- CAN 2.0B mode
Conforms to ISO11898-1:2015
Message FIFOs
31 FIFOs Configurable as transmit or receive FIFOs
One Transmit Queue (TXQ)
Transmit Event FIFO (TEF) with 32-bit Timestamp
Message Transmission
Message Transmission Prioritization is based on any one or both of these:
- Based on priority bit field
- Message with lowest ID gets transmitted first using the TXQ
Programmable Automatic Retransmission Attempts: Unlimited, 3 Attempts or Disabled
Message Reception
32 Flexible Filter and Mask Objects
Each Object can be Configured to Filter using any of these:
- Standard ID and first 18 data bits
- Extended ID
32-Bit Timestamp
The CAN FD Bit Stream Processor (BSP) implements the Medium Access Control of the
CAN FD protocol as described in ISO11898-1:2015. It serializes and deserializes the bit
stream, encodes and decodes the CAN FD frames, manages the medium access,
Acknowledges frames, and detects and signals errors.
The TX handler prioritizes the messages that are requested for transmission by the
transmit FIFOs. It uses the RAM interface to fetch the transmit data from RAM and provides
it to the BSP for transmission.
The BSP provides received messages to the RX handler. The RX handler uses an
acceptance filter to filter the messages that will be stored in the receive FIFOs. It uses the
RAM interface to store received data into RAM.
Each FIFO can be configured either as a transmit or receive FIFO. The FIFO control keeps
track of the FIFO head and tail, and calculates the user address. In a TX FIFO, the user
address points to the address in RAM where the data for the next transmit message is
stored. In an RX FIFO, the user address points to the address in RAM where the data of the
next receive message will be read. The user notifies the FIFO that a message is written to
or read from RAM by incrementing the head or tail of the FIFO.
The TXQ is a special transmit FIFO that transmits the messages based on the ID of the
messages stored in the queue.
The TEF stores the message IDs of the transmitted messages.
A free-running Time Base Counter (TBC) is used to timestamp received messages.
Messages in the TEF can also be timestamped.
The CAN FD controller module generates interrupts when new messages are received or
when messages are transmitted successfully.

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