®

Atmel Microcontrollers
CAN Tutorial
 CAN Tutorial
® Agenda
Introduction or: What is CAN?
Why CAN?
CAN Protocol
CAN higher Layer Protocols
CAN Applications
Atmel CAN Microcontrollers Family
CAN Registers Details
Conclusion

CAN Tutorial 16/03/2004 2

 CAN Tutorial
® Introduction
y The CAN is an ISO standard (ISO 11898) for serial
communication
y The protocol was developed 1980 by BOSCH for
automotive applications
y Today CAN has gained widespread use:
¾ Industrial Automation
¾ Automotive, …etc.
y The CAN standard includes:
¾ Physical layer
¾ Data-link layer
9 Some message types
* 9 Arbitration rules for bus access
9 Methods for fault detection and fault confinement

Introduction CAN Tutorial 16/03/2004 3

 CAN Tutorial
® Why CAN?
y Mature Standard
¾ CAN protocol more than 14 years
¾ Numerous CAN products and tools on the market
y Hardware implementation of the protocol
¾ Combination of error handling and fault confinement with high
transmission speed
y Simple Transmission Medium
¾ Twisted pair of wires is the standard, but also just one wire will
work
¾ Other links works, too: Opto - or radio links
y Excellent Error Handling
¾ CRC error detection mechanism
y Fault Confinement
¾ Built-in feature to prevent faulty node to block system
y Most used protocol in industrial and automotive world
y Best Performance / Price ratio

Why CAN?
CAN Tutorial 16/03/2004 4
 CAN Tutorial
® CAN Protocol
What is CAN? Frame Formats (1)
ISO-OSI Reference Model Frame Formats (2)
CAN Bus Logic Frame Formats (3)
Typical CAN Node Frame Formats (4)
CAN Bus Access and Fault Confinement (1)
Arbitration Fault Confinement (2)
CAN Bit Coding & Bit Undetected Errors
Stuffing
CAN Bus Synchronization
CAN Bit Construction
Relation between Baud Rate
and Bus Length

CAN Protocol CAN Tutorial 16/03/2004 5

 CAN Tutorial
® What is CAN?
y Controller Area Network
¾ Invented by Robert Bosch GmbH
¾ Asynchronous Serial Bus
¾ Absence of node addressing
9 Message identifier specifies contents and priority
9 Lowest message identifier has highest priority
¾ Non-destructive arbitration system by CSMA with collision
detection
¾ Multi-master / Broadcasting concept
¾ Sophisticated error detection & handling system
¾ Industrial and Automotive Applications

CAN Protocol CAN Tutorial 16/03/2004 6

 CAN Tutorial
® ISO-OSI* Reference Model

HLPs: CANopen, DeviceNet, OSEK/V**

7. Application Layer

6. Presentation Layer
Partially implemented
5. Session Layer by Higher Layer
Protocols (HLP)
4. Transport Layer

3. Network Layer

2. Data Link Layer

CAN Protocol
1. Physical Layer
*) OSI - Open System Interconnection

CAN Protocol CAN Tutorial 16/03/2004 7

 CAN Tutorial
® CAN Bus Logic

“1” = recessive
Two logic states on
the CAN bus “0” = dominant

Node Node Node

A B C BUS
“Wired-AND” function:
D D D D
as soon as one node transmit
D D R D a dominant bit (zero)
D R D D the bus is in the dominant state
D R R D
R D D D
R D R D
R R D D Only if all nodes transmit
R R R R recessive bits (ones)
the Bus is in the recessive state

CAN Protocol CAN Tutorial 16/03/2004 8

 CAN Tutorial
® Typical CAN Node

T89C51CC01/02

CAN_H

TxD Diff.
I/O CAN CAN
µController Line
Controller
RxD Driver CAN_L

CAN Bus
(terminated by 120 Ohm on each side)

CAN Protocol CAN Tutorial 16/03/2004 9

 CAN Tutorial
®

TXd

TXd CANh
Dominant
CAN CAN CANh
Controller RXd Transceiver CANl Recessive
CANl
Dominant

RXd

CAN Bus (up to 40m @1Mb/s, up to 1km @50Kb/s)

Stub

Device Device Device Device

#1 #2 #3 #n

CAN Protocol CAN Tutorial 16/03/2004 10

 CAN Tutorial
®

CAN Bus Access and Arbitration:

CSMA/CD and AMP *)

Start of Frame

Arbitration Field

Node 1: TxD

Node 2: TxD

Node 3: TxD

CAN Bus

Node 2 Node 3 loses

loses Arbitration Arbitration

*)Carrier Sense Multiple Access/Collision Detection and Arbitration by Message Priority

CAN Protocol CAN Tutorial 16/03/2004 11

 CAN Tutorial
® CAN Bit Coding & Bit Staffing
y Bit Coding : NRZ (Non-Return-To-Zero code) does not ensure
enough edges for synchronization
y Stuff Bits are inserted after 5 consecutive bits of the same level
y Stuff Bits have the inverse level of the previous bit.
y No deterministic encoding, frame length depends on
transmitted data

1 1 1 2 3 4 5 6 7 8 9 10 1 2 3 4 5 1 2 3 1 2 3 4
Data
Stream

Number of consecutive
$ = Staff Bits
bits with same polarity
$ $ $ CAN Bus
Bit Stream

1 1 1 2 3 4 5 1 1 2 3 4 5 1 2 3 4 5 1 1 1 2 3 1 2 3 4

CAN Protocol CAN Tutorial 16/03/2004 12

 CAN Tutorial
® CAN Bus Synchronization

y Hard synchronization at Start Of Frame bit

SOF
Intermission / Idle ID10 ID9 ID8 ID7 ID6 ID5

All nodes synchronize on leading edge

of SOF bit (Hard Synchronization)

y Re-Synchronization on each Recessive to Dominant bit

Re- Re- Re-

synch synch synch

CAN Protocol CAN Tutorial 16/03/2004 13

 CAN Tutorial
® CAN Bit Construction
y Length of one time quanta can be set to multiple of µController
clock
y 1 Time quantum = 1 period of CAN Controller base clock
y Number of time quanta in Propag and Phase segments is
programmable

1 Bit Time
8 to 25 Time Quanta
R

NRZ Signal
D

Sync Propag Phase Phase

Phases Seg Seg Seg 1 Seg 2
1 tq 1 to 8 tq 1 to 8 tq 1 to 8 tq

1 to16 tq

Sample Point

CAN Protocol CAN Tutorial 16/03/2004 14

 CAN Tutorial
® Relation between Baud Rate and Bus Length

1000
500
200
Bit Rate
100
[kbps] 50
20
10
5

0 1O 40 100 200 1000 10000

CAN Bus Length [m]

Example based on CAN Bus Lines by twisted pair

CAN Protocol CAN Tutorial 16/03/2004 15

 CAN Tutorial
® Frame Formats (1)

Bit Stuffing

SOF

ACK
del

del
Bus Frame ARBITRATION CTRL DATA CRC EOF IFS

Duration in Data Bit 1 12- 32 6 0…64 15 1 1 1 7 ≥3

SOF

RB0
IDE
RTR
CAN - V2.0A ID DLC DATA

Duration in Data Bit 1 11 1 1 1 4

ARBITRATION CTRL
SOF

RB1

RB0
CAN - V2.0B

RTR
SRR

IDE
ID[28..18] ID[17..0] DLC DATA

Duration in Data Bit 1 11 1 1 18 1 1 1 4

ARBITRATION CTRL

SOF Start of Frame EOF End of Frame RTR Remote Transmission Request
CRC Cyclic Redundancy Code IFS Inter Frame Spacing SRR Substitute Remote Request
del Delimiter ID Identifier RB0/1 Reserved bits
ACK Acknowledge IDE Identifier Extension DLC Data Length Code

CAN Protocol CAN Tutorial 16/03/2004 16

 CAN Tutorial
®

SOF Start of Frame EOF End of Frame RTR Remote Transmission Request
CRC Cyclic Redundancy Code IFS Inter Frame Spacing SRR Substitute Remote Request
del Delimiter ID Identifier RB0/1 Reserved bits
ACK Acknowledge IDE Identifier Extension DLC Data Length Code

CAN Protocol CAN Tutorial 16/03/2004 17

 CAN Tutorial
® Frame Formats (2)

Bit Stuffing

SOF

ACK
del

del
ARBIT.* CTRL DATA CRC EOF IFS
Data Frame
1 12- 32 6 0…64 15 1 1 1 7 ≥3
Duration in Data Bit
(*) RTR = dominant

Bit Stuffing
SOF

ACK

del
del
Remote Frame ARBIT.* CTRL CRC EOF IFS

Duration in Data Bit 1 12- 32 6 15 1 1 1 7 ≥3

(*) RTR = recessive

CAN Protocol CAN Tutorial 16/03/2004 18

 CAN Tutorial
® Frame Formats (3)
y If any of the CAN nodes detects a violation of the frame
format
y or a stuff error, it immediately sends an Error Frame

IFS or
Data Frame Superposition of Error Delimiter Overload
Error Flag Frame
Error Flag
Error Frame
Duration in Data Bit 6 6 8

Error Frame

CAN Protocol CAN Tutorial 16/03/2004 19

 CAN Tutorial
® Frame Formats (4)
y If any of the CAN nodes suffers from a “data over flow”,
it might send
y up two consecutive Overload Frames to delay the
network

EOF or Error delimiter IFS or

or Overload delimiter Superposition of Overload Delimiter Overload
Overload Flag Frame
Overload Flag
Overload Frame
Duration in Data Bit 6 6 8

Overload Frame

CAN Protocol CAN Tutorial 16/03/2004 20

 CAN Tutorial
® Fault Confinement (1)
y Three fundamental states define each node’s error
signaling
¾ Error active: Normal state, node can send all frames incl.error
frames
¾ Error passive: Node can send all frames excluding error frames
¾ Bus off: Node is isolated from bus
y Internal error counts determine the state
¾ Transmit error counter (TEC) An error increases the counter
by 8
¾ Receive error counter (REC) A successful operation
decreases by 1
y Aims to prevent from bus dead-locks by faulty nodes
Communication
Communication active suspended
Reset TEC≥128

Error REC≥128 Error TEC≥256

Bus off
Warning at >96 active TEC<128 passive
REC<128

Re - Initialization only
CAN Protocol CAN Tutorial 16/03/2004 21
 CAN Tutorial
® Fault Confinement (2)
y Cyclic Redundancy Check (CRC)
y The CRC is calculated over the non-stuffed bit stream
starting with the SOF and ending with the Data field by
the transmitting node
y The CRC is calculated again of the destuffed bit stream
by the receiving node
y A comparison of the received CRC and the calculated
CRC is made by the receiver
y In case of mismatch the erroneous data frame is
discarded . Instead of sending an acknowledge signal an
error frame is sent.

CAN Protocol CAN Tutorial 16/03/2004 22

 CAN Tutorial
® Undetected Errors
y Error statistics depend on the entire environment
y Total number of nodes
y Physical layout
y EMI disturbance
y Automotive example
y 2000 h/y
y 500 kbps
y 25% bus load

One undetected error every 1000 years

CAN Protocol CAN Tutorial 16/03/2004 23

 CAN Tutorial
® CAN Higher Layer Protocols (HLPs)
Why HLPs
CANOpen
DeviceNet
CAN Kingdom
OSEK/VDX
SDS
J1939

Higher level protocols CAN Tutorial 16/03/2004 24

 CAN Tutorial
® Why HLPs
y The CAN protocol defines only the ‘physical’ and a low
‘data link layer’!
y The HLP defines:
¾ Start-up behavior
¾ Definition of message identifiers for the different nodes
¾ Flow control
¾ transportation of messages > 8bytes
¾ Definition of contents of Data Frames
¾ Status reporting in the system

Higher level protocols CAN Tutorial 16/03/2004 25

 CAN Tutorial
® CANopen
y Features
¾ CANopen a subset from CAL (CAN Application Layer)
developed by CiA!
¾ Auto configuration the network
¾ Easy access to all device parameters
¾ Device synchronization
¾ Cyclic and event-driven data transfer
¾ Synchronous reading or setting of inputs, outputs or
parameters
y Applications
¾ Machine automatisation
y Advantages
¾ Accommodating the integration of very small sensors and
actuators
¾ Open and vendor independent
¾ Support s inter-operability of different devices
¾ High speed real-time capability

Higher level protocols CAN Tutorial 16/03/2004 26

 CAN Tutorial
® DeviceNet
y Features
¾ Created by Allen-Bradley (Rockwell Automatisation
nowadays), now presented by the users group ODVA
(Open DeviceNet Vendor Association)
¾ Power and signal on the same network cable
¾ Bus addressing by: Peer-to-Peer with multi-cast & Multi-
Master & Master-Slave
¾ Supports only standard CAN
y Applications
¾ Communications link for industrial automatisation: devices
like limit switches, photo-electric sensors, valve manifolds,
motor starters, process sensors, bar code readers,variable
frequency drives, panels...
y Advantages
¾ Low cost communication link and vendor independent
¾ Removal and replacement of devices from the network
under power

Higher level protocols CAN Tutorial 16/03/2004 27

 CAN Tutorial
® CAN Kingdom
y CAN Kingdom is more then a HLP: A Meta protocol
¾ Introduced by KVASER, Sweden
¾ A ‘King’ (system designer) takes the full responsibility of
the system
¾ The King is represented by the Capital (supervising node)
¾ World wide product identification standard EAN/UPC is
used for
y Applications
¾ Machine control, e.g. industrial robots, weaving machines,
mobile hydraulics, power switchgears, wide range of
military applications
y Advantages
¾ Designed for safety critical applications
¾ Real time performance
¾ Scalability
¾ Integration of DeviceNet & SDC modules in CAN Kingdom
possible

Higher level protocols CAN Tutorial 16/03/2004 28

 CAN Tutorial
® OSEK/VDX
y Initialized by:
¾ BMW, Bosch, DaimlerChrysler, Opel, Siemens,VW & IIIT of
the University of Karlsruhe / PSA and Renault
y OSEK/VDX includes:
¾ Communication (Data exchange within and between
Control Units)
¾ Network Management (Configuration determination and
monitoring)
¾ Operating System (Real-time executive for ECU software)
y Motivation:
¾ High, recurring expenses in the development and variant
management of non-application related aspects of control
unit software
¾ Compatibility of control units made by different
manufactures due to different interfaces
y Goal: Portability and re-usability of the application software
y Advantages: Clear saving in costs and development time
Higher level protocols CAN Tutorial 16/03/2004 29
 CAN Tutorial
® SAE J1939
y Features
¾ Developed by Society of Automotive Engineers heavy
trucks and bus division (SAE)
¾ Use of the 29 identifiers
¾ Support of real-time close loop control
y Applications
¾ Light to heavy trucks
¾ Agriculture equipment e.g. tractors, harvester etc…
¾ Engines for public work

Higher level protocols CAN Tutorial 16/03/2004 30

 CAN Tutorial
® Smart Distributed System ( SDS)

y Features
¾ Created by Honeywell
¾ Close to DeviveNet, CAL & CANopen

Higher level protocols CAN Tutorial 16/03/2004 31

 CAN Tutorial
® CAN: a Large Field of Applications

Building Automatisation
Domestic & Food distribution appliances
Automotive & Transportation
Robotic
Production Automatisation
Medical
Agriculture

CAN applications CAN Tutorial 16/03/2004 32

 CAN Tutorial
® Building Automatisation
y Heating Control
y Air Conditioning (AC)
y Security (fire, burglar…)
y Access Control
y Light Control

CAN applications CAN Tutorial 16/03/2004 33

 CAN Tutorial
® Domestic & Food distribution appliances
y Washing machines
y Dishes cleaner
y Self-service bottle distributors connected to internet

CAN applications CAN Tutorial 16/03/2004 34

 CAN Tutorial
® Automotive & Transportation
y Automotive
¾ Dash board electronic
¾ Comfort electronic
y Ship equipment
¾ Train equipment
¾ Lifts
¾ Busses
¾ Trucks
¾ Storage transportation systems
¾ Equipment for handicapped people
y Service & Analysis systems

CAN applications CAN Tutorial 16/03/2004 35

 CAN Tutorial
® Robotic
y Tool machines
y Transport systems
y Assembly machines
y Packaging machines
y Knitting machines
y Plastic injection machines
y etc...

CAN applications CAN Tutorial 16/03/2004 36

 CAN Tutorial
® Production Automatisation & Robotic
y Control and link of production machines
y Production control
y Tool machines
y Transport systems
y Assembly machines
y Packaging machines
y Knitting machines
y Plastic injection machines
y etc...

CAN applications CAN Tutorial 16/03/2004 37

 CAN Tutorial
® Agriculture
y Harvester machines
y Seeding/Sowing machines
y Tractor control
y Control of live-stock breeding equipment

CAN applications CAN Tutorial 16/03/2004 38

 CAN Tutorial
® CANary: the ultimate Flash-based CAN
microcontrollers

Atmel CAN Bus Controller T89C51CC01

 Main Features  Block Diagram
 Mailbox concept (1)  Features (1) Features (2)
 Mailbox concept (2)  Advantages
 Channel Data Buffer (1)
 Channel Data Buffer (2) T89C51CC02
 Autobaud & Listening Mode  Block Diagram
 Auto Reply Mode  Features (1) Features (2)
 Time Triggered Mode  Advantages
 Error Analysis Functions AT89C51CC03
 CAN Self Test AT90CAN128
 Atmel CAN Controller  Block Diagram
 Conclusion
 Competitive advantages
CAN processor cores
 Advanced C51 5 MIPS Core
 Advanced AVR 16MIPS Core CAN family summary

CAN family CAN Tutorial 16/03/2004 39

 CAN Tutorial
® CAN Controller: Main Features
y Full validation by iVS/C&S Wolfenbüttel/Germany
y CAN 2.0A and 2.0B programmable / Channel
y 1 MHz CAN Bus Data Rate at 8 MHz Crystal
y 15 Channel with 20 Bytes of Control & Data / Channel
y 120 Bytes Reception Buffer
y Support of Time Triggered Communication (TTC)
y Auto Baud, Listening & Automatic Reply mode
y Mail Box addressing via indirect addressing
y All Channel features programmable on-the-fly
y Interrupt accelerator (available on AVR based controller)

CAN family CAN Tutorial 16/03/2004 40

 CAN Tutorial
® CAN Controller: Mailbox concept (1)

SFRs CAN Controller Registers

Channel Nr. & Ch. 14 - Status

Data Offset
Ch. 14 - Control & DLC

Channel Status Ch. 0 - Status

Ch. 14 - Data Buffer (8)
Channel Control & DLC Ch. 0 - Control & DLC

Ch. 0 - Data Buffer (8) Ch. 14 - ID Tag (4)

Message Data (1)

ID Tag (4) Ch. 0 - ID Tag (4) Ch. 14 - ID Masks (4)

Ch. 0 - ID Masks (4) Ch. 14 - TimStmp (2)

ID Masks (4)

s
annel
TimStmp (2) Ch. 0 - TimStmp (2) 15 Ch
(*) Number of Bytes

CAN family CAN Tutorial 16/03/2004 41

 CAN Tutorial
® CAN Controller: Mailbox concept (2)
y Channel features
¾ 32 bit of ID Mask Register
¾ 32 bit of ID Tag Register
¾ 64 bit of cyclic Data Buffer
Register
¾ 16 bit of Status, Control &
DLC Ch. 0 to 14 - Status
¾ 16 bit of Time Stamp
Register Ch. 0 to 14 - Control & DLC

Ch. 0 to 14 - Data Buffer (8)

Ch. 0 to 14 - ID Tag (4)

Ch. 0 to14 - ID Masks (4)

Ch. 0 to 14 - TimStmp (2)

CAN family CAN Tutorial 16/03/2004 42

 CAN Tutorial
® CAN Controller: Channel Data Buffer (1)
y Main Features
¾ 15 Channels of 8 Byte (120 Bytes) Data Buffer
¾ All Channels programmable as:
9 Receiver
9 Transmitter
9 Receiver Buffer
¾ Highest Priority for lowest Channel Nr. Ch. 14 - Data Buffer (8)
Ch. 13 - Data Buffer (8)
¾ Interrupts at: Ch. 12 - Data Buffer (8)
9 Correct Reception of Message Ch. 11 - Data Buffer (8)
9 Correct Transmission Ch. 10 - Data Buffer (8)
Ch. 9 - Data Buffer (8)
9 Reception Buffer full
Ch. 8 - Data Buffer (8)
Ch. 7 - Data Buffer (8)
Ch. 6 - Data Buffer (8)
Ch. 5 - Data Buffer (8)
Ch. 4 - Data Buffer (8)
Ch. 3 - Data Buffer (8)
Ch. 2 - Data Buffer (8)
Ch. 1 - Data Buffer (8)
Ch. 0 - Data Buffer (8)

CAN family CAN Tutorial 16/03/2004 43

 CAN Tutorial
® CAN Controller: Channel Data Buffer (2)
y Reception Buffer Features:
¾ Several Channels with same ID Mask (no important
message will be missed)
¾ Lowest Channel Number served first
¾ Each Channel can participate (no consecutive sequence
needed)

Ch. 14 - Data Buffer (8)

Ch. 13 - Data Buffer (8)
Ch. 12 - Data Buffer (8)
Ch. 11 - Data Buffer (8)
Ch. 10 - Data Buffer (8)
Ch. 9 - Data Buffer (8)
Ch. 8 - Data Buffer (8)
Ch. 7 - Data Buffer (8)
Ch. 6 - Data Buffer (8)
Reception Buffer
Example: Ch. 5 - Data Buffer (8)
Ch. 4 - Data Buffer (8)
Receiver Ch. 3 - Data Buffer (8)
Ch. 2 - Data Buffer (8)
Ch. 1 - Data Buffer (8)
Transmitter Ch. 0 - Data Buffer (8)

CAN family CAN Tutorial 16/03/2004 44

 CAN Tutorial
® CAN Controller: Autoband & listening mode
y CAN monitoring without influence to the bus lines
¾ No acknowledge by error frames
¾ Error counters are frozen
¾ Only reception possible
¾ No transmission possible
¾ Full error detection possible
y Bit-rate adaption support
¾ Hot-plugging of bus nodes to running networks with
unknown bit-rate

CAN family CAN Tutorial 16/03/2004 45

 CAN Tutorial
® CAN Controller: Automatic Reply Mode
y Automatic Message Transfer
¾ Automatic message transfer after
¾ reception of Remote Frame
¾ Deferred message transfer after
¾ reception of Remote Frame
¾ Automatic Retransmission of Data Frames under
¾ Software control

CAN family CAN Tutorial 16/03/2004 46

 CAN Tutorial
® CAN Controller: Time Triggered Communication
(TTC)
y Support of Real Time Applications
¾ Single shot transmission
¾ 16 bit CAN timer with IT at overflow
¾ 16 bit Time Stamp Register / Channel
¾ Trigger for Time Stamp Register at
¾ End of Frame (EOF) or Start of Frame (SOF)

CAN family CAN Tutorial 16/03/2004 47

 CAN Tutorial
® CAN Controller: Error Analysis Functions
y Channel Status Register (Error Capture Register)
¾ Associated to each Channel
¾ Type of CAN bus errors: DLC warning, Transmit OK,
Receive OK, Bit error (on in transmit), Stuff error, CRC
error, Form error, Acknowledgement error
y Error Interrupts
¾ Bus errors, Error passive and Error warning
y Readable Error Counters

CAN family CAN Tutorial 16/03/2004 48

 CAN Tutorial
® CAN Controller: CAN Self Test
y Analysis of own transmitted Message
y Support of local self test
y Support of global self test
y Software comparison of Tx & Rx buffer
y Monitoring of CAN bus traffic

CAN family CAN Tutorial 16/03/2004 49

 CAN Tutorial
® CAN Controller: The Atmel CAN controller
y 15 Message objects (Channels), each with filtering,
masking and FIFO buffer
y All Channel features programmable on-the-fly

Status / Control
Registers
Host
CAN Bus
CPU
Interface CAN Host
Protocol Inter-
Controller Task / Message face
FIFO 0
Mask 0 Object 0

Task / Message
FIFO 1
Mask 1 Object 1

Task / Message
FIFO 14
Mask 14 Object 14

CAN family CAN Tutorial 16/03/2004 50

 CAN Tutorial
® CAN Controller: Conclusion
y 1 MHz/sec CAN Bus Data Rate at 8 MHz Crystal Freq.
y CAN 2.0A and 2.0B programmable / Channel
y 15 Channel with 20 Bytes of Control & Data / Channel
y 120 Bytes Reception Buffer
y Support of Time Triggered Communication (TTC)
y Auto Baud, Listening & Automatic Reply mode
y Mail Box addressing via SFRs
y All Channel features programmable on-the-fly
y Interrupt process accelerator with AVR based controller

CAN family CAN Tutorial 16/03/2004 51

 CAN Tutorial
® CAN Microcontrollers: Advantages (1)
Advanced C51 Core
y 5MIPS (30MHz X2, 60MHz X1) y 4 level priority interrupt
y Fully static operation system
y Asynchronous port reset y Enhanced UART
y Second data pointer y Programmable Timer 2 clock
out
y Inhibit ALE
y Power Consumption
y X2 CORE reduction
y Wake up with external
interrupts from Power Down

CAN family CAN Tutorial 16/03/2004 52

 CAN Tutorial
® CAN Microcontrollers: Advantages (2)
Advanced AVR Core
y 16MIPS core at 16MHz y Highest Code Density in C
y Hardware Multiplier and Assembly
y IEEE 1149.1 Compliant JTAG y Highest System Level
Interface Integration
y Instruction set optimized for y Complete Set of
C programming Development Tools
y Self-Programming Memory
¾ Remote Programming or
Field Upgrade
¾ Read While Write
¾ Lock Bit/Brownout
Protection
¾ Variable Boot Block Size: 1
to 8KB

CAN family CAN Tutorial 16/03/2004 53

 CAN Tutorial
® CAN Microcontrollers: T89C51CC01 Block Diagram

User Flash Boot Flash EEPROM

Memory Memory
32k x 8 2K x 8 2K x 8

C51 X2 RAM
1.2K x 8
Core
Interrupt Unit
ADC Prog. Watchdog
10bit / 8 Channels Timer
Timers 0 / 1 / 2
PCA
5 Channels Port 0 8I/O
CAN
Port 4

Port 1 8I/O
Controller
15 Channels Port 2 8I/O

Emulation Port 3 8I/O

Support Logic

Packages: PLCC44, TQFP44, CA-BGA64

CAN family CAN Tutorial 16/03/2004 54
 CAN Tutorial
® CAN Microcontrollers: T89C51CC01 Features
y C52 Core compatible
y Up to 60 MHz operation (X2 mode)
y X2 Core
y Double Data Pointer
y 32 Kb FLASH ISP, 2 Kb FLASH Boot Loader
y 2Kb EEPROM
y 1.25 k RAM (256b scratchpad RAM + 1kb XRAM)
y 3-16 bit Timers (T0,T1,T2)
y Enhanced UART
y CAN Controller with 15 channels (2.0A and 2.0B)

CAN family CAN Tutorial 16/03/2004 55

 CAN Tutorial
® CANary Microcontrollers: T89C51CC01 Features

y 10 bits A/D with 8 Channels

y 5 I/O Ports
y Programmable Counter Array
¾ 5 channels, 5 Modes:
9 PWM, Capture, Timer, Counter, Watchdog(Channel 4 only)
y 1Mbit /sec CAN at 8MHz Crystal Frequency (X2mode)
y Temperature: -40 to 85°C
y Voltage: 3 to 5 Volt +/-10%
y Packages: PLCC44, TQFP44, CA-BGA64

CAN family CAN Tutorial 16/03/2004 56

 CAN Tutorial
® CAN Microcontrollers: T89C51CC01 Advantages

y T89C51CC01 is the first CAN Controller of a new

generation for smart embedded applications which
offers Flash and ISP Technology for Customer Code &
Application Parameter up-date in a 44-pin package .
y For security reasons the 2kB Boot Memory is physically
separated from 32kB Customer memory.
y Further for security reasons the Boot memory can be
written only in Parallel Mode outside the application.
y 10b ADC & 5 channel PCA allow T89C51CC01 single-chip
applications in most cases
y Included in the delivery is a wide range of Application
Programming interfaces (API) concerning ISP, EEPROM,
Security, Customer & Boot Flash

CAN family CAN Tutorial 16/03/2004 57

 CAN Tutorial
® CAN Microcontrollers: T89C51CC02 Block Diagram

User Flash Boot Flash EEPROM

Memory Memory
16k x 8 2K x 8 2K x 8

RAM
C51 X2 0.5K x 8
Core
Interrupt Unit
ADC Prog. Watchdog
10bit / 8 Channels Timer
Timers 0 / 1 / 2
PCA
2 Channels
Port 1 8I/O
CAN
Port 4

Port 2
1 2I/O
Controller
Port 3 8I/O
4 Channels

Emulation Test
Support Logic Support Logic

Packages: PLCC28, SOIC28, QPF32

CAN family CAN Tutorial 16/03/2004 58
 CAN Tutorial
® CAN Microcontrollers: T89C51CC02 Features
y C52 Core and T89C51CC01 compatible
y Up to 60 MHz operation (X2 mode)
y X2 Core
y Double Data Pointer
y 16 kb FLASH ISP
y 2 Kb FLASH Boot Loader
y 2 kb EEPROM
y 512b RAM (256b scratchpad RAM + 256b XRAM)
y 3-16 bit Timers (T0,T1,T2)
y Enhanced UART
y CAN Controller with 4 channels (2.0A and 2.0B)

CAN family CAN Tutorial 16/03/2004 59

 CAN Tutorial
® CANary Microcontrollers: T89C51CC02 Features

y 10 bit ADC with 8 Channels

y 3 I/O Ports
y Programmable Counter Array (PCA)
¾ 2 channels, 5 Modes
9 PWM, Capture, Timer, Counter
y 1MBit/sec CAN at 8MHz Crystal Frequency (X2 mode)
y Temperature: -40 to 85°C
y Voltage: 3 to 5 Volt +/10%
y Package: SOIC28, Plcc28, TQFP32, TSSOP28

CAN family CAN Tutorial 16/03/2004 60

 CAN Tutorial
®CAN Microcontrollers: T89C51CC02 Advantages

y T89C51CC02 is designed for embedded low-end, high

volume applications
y Same functions like included in T89C51CC01
y Reduced costs in a 24 pin package.
y Main difference to T89C51CC01:
¾ No access possible to external RAM/ROM via Ports 0 & 2
¾ Customer Flash Memory 16kBytes
¾ On-chip RAM: 512Bytes
¾ 4 channel CAN Controller
¾ 2 channel PCA
y All other functions will remain identical in the sense that
the T89C51CC01 development tools can be used for
T89C51CC02.

CAN family CAN Tutorial 16/03/2004 61

 CAN Tutorial
® AT89C51CC03
y Extend the CAN family to
64KB Flash and 2KB RAM
y Up to 60 MHz operation (X2 Flash Program Flash Boot
mode) Memory Memory
EEPROM
2K x 8
64k x 8 2K x 8
y Integrated Power Fail Detect
(replace external BOD)
RAM
y Protection against false flash 2.2K x 8 EUART

write C51 X2 Interrupt

Ctrl
Core
y Sport a fast SPI with Master and ADC
Watchdog

Slave mode 10bit / 8 Timers 0 / 1

Channels /2
y Fully compatible with PCA Port 0
5 Channels
T89C51CC01 (32KB Flash) Port 1

Port 4
CAN Controller
y 3 volts to 5.5 volts 15 Message
Objects
Port 2

y UART bootloader and CAN SPI

Port 3

bootloader
Packages: TQFP44, PLCC44, BGA8*8
y PLCC44, VQFP44, BGA64,
PLCC52(*) VQFP64(*) packages
(*) with SPI interface

CAN family CAN Tutorial 16/03/2004 62

 CAN Tutorial
® AT90CAN128

Main Characteristics Flash & Boot

Memory AVR SRAM
¾8-Bit AVR Core/1 MIPS per MHz (16MHz 128K Bytes Core 4K Bytes
at 4.5V)
¾128KB Flash EEPROM
4K Bytes USART (2)
¾4KB RAM
TWI
¾4KB EEPROM (100K cycles) ADC
10bit / 8 Channels SPI
¾CAN Controller CAN 2.0A/B with 15 MOB
CAN Controller
Port A
¾8-channel 10-bit ADC 15 Message
Objects Port B
¾2 x 8-bit Timer/Counter0 and
Timer/Counter2 Interrupt Ctrl Port C
¾16-bit Timer/Counter 1/3 8 PWM Output Port D
¾Dual Programmable USART: LIN capable Timers 0 / 2 8bits Port E
¾Two Wire Interface Timers 2&3 16bits
Port F
¾Programmable SPI: master/slave Watchdog
Port G
¾Programmable Brown-out detector JTAG Emulation
Support Logic
¾TQFP64 + QFN64 + CA-BGA64 packages Packages: TQFP64, QFN64, CA-BGA64

CAN family CAN Tutorial 16/03/2004 63

 CAN Tutorial
® AT90CAN128 Competitive Advantage

y Performance:
¾ Processing Speed: 16MIPS AVR RISC Core
¾ 128KB Flash Program Memory; 4KB EEPROM; 4KB RAM
¾ V2.0A/B CAN Controller: Mail Box Message management up to 15 dynamic
messages at the same time
y Flexibility:
¾ Self-Programming Memory
9 Remote Programming or Field Upgrade
9 Read While Write
9 Lock Bit/Brownout Protection
9 Variable Boot Block Size: 1 to 8KB
y Higher Layer Protocol Software: CANopen and DeviceNetTM from Tool
Vendors Partners
y Hardware Multiplier
y IEEE 1149.1 Compliant JTAG Interface
y Atmel Commitment to CAN Networking: a Complete CAN
Microcontroller Family

CAN family CAN Tutorial 16/03/2004 64

 CAN Tutorial
® AT90CAN128 in CAN Family
NEW

8051 Architecture AVR 8-Bit RISC

T89C51CC01 T89C51CC02 AT89C51CC03 AT90CAN128
Introduce in Y2000 Y2001 Y2003 Intro
Intro :: March
March 2004
2004
MIPS 5 5 5 16
Flash program/boot 32KB/2KB 16KB/2KB 64KB/2KB 128KB/ up to 8KB
EEPROM 2KB 2KB 2KB 4KB
RAM 1.2KB 0.5KB 2.2KB 4KB
Power Fail Detect - - YES YES
CAN Controller 15 Message Objects 4 Message Objects 15 Message Objects 15 Message Objects
SPI - - YES YES
Supply (V) 3 to 5.5 3 to 5.5 3 to 5.5 2.7 to 5.5
ADC 10 bit / 8 channels 10 bit / 8 channels 10 bit / 8 channels 10 bit / 8 channels
PCA 5 channels 2 channels 5 channels -
Timers 8bit - - - Timers 0 / 2
Timers 16bit Timers 0 / 1 / 2 Timers 0 / 1 / 2 Timers 0 / 1 / 2 Timer 1 / 3
UART (Hardware) 1 1 1 2
Port Port 0 / 1 / 2 / 3 Port 1 / 2 / 3 Port 0 / 1 / 2 / 3 Port A/B/C/D/E/F/G
Bootloader UART / CAN UART / CAN Same UART / CAN as Hard : SPI, JTAG
(DeviceNet – CANopen) T89C51CC01 Soft : UART, CAN
Packages TQFP44, PLCC44, CA- SOIC24, SOIC28, TQFP44, PLCC44, TQFP64, QFN64, BGA64
BGA64 TQFP32, PLCC28 BGA8*8
CAN Tutorial 16/03/2004 65
 Atmel CAN controllers
®

CAN REGISTERS
C51 base Core

CAN Registers
 CAN Tutorial
® C51 CAN General registers (1)

CANBT1

- BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 -

CANBT2

- SJW1 SJW0 - PRS2 PRS1 PRS0 -

CANBT3

- PHS2-2 PHS2-1 PHS2-0 PHS1-2 PHS1-1 PHS1-0 SMP

BRP = prescaller. Tscl = (BRP+1)/FCAN

SJW = resynchronization Jump bit
PRS = propagation to compensate physical delay
PHS2 = phase error compensation after sampling point
PHS1 = phase error compensation before sampling point
SMP = sample type : 0 for 1 sample, 1 for 3 samples (1/2Tscl apart from
center)

CAN Registers CAN Tutorial 16/03/2004 67

 CAN Tutorial
® C51 CAN General Registers (2)

CANGCON

ABRQ OVRQ TTC SYNCTTC AUTOBAUD TEST ENA GRES

General Control register

ABRQ : Abort request. An on going transmission or reception will be

completed before the abort.
OVRQ : Overload frame request (see frame format 4 page for details)
TTC : Set to select the Time Trigger Communication mode
SYNCTTC : select Start of Frame or end of Frame for TTC synchronization
AUTOBAUD : listening mode only when set
Test : factory reserved bit
ENA : Enable CAN standby when bit=0
GRES : General reset

CAN Registers CAN Tutorial 16/03/2004 68

 CAN Tutorial
® C51 CAN General Registers (3)

CANGSTA
- OVFG - TBSY RBSY ENFG BOFF ERRP

General Status register

OVFG : Overload Frame Flag (set while the overload frame is sent. No IT)
TBSY : Transmitter Busy (Set while a transmission is in progress)
RBSY : Receive Busy (set while a reception is in progress)
ENFG : Enable On Chip CAN controller Flag. Cleared after completion of
on going transmit or receive after ENA has been cleared in CANGCON
BOFF : Bus Off indication
ERRP : Error Passive indication

CAN Registers CAN Tutorial 16/03/2004 69

 CAN Tutorial
® C51 CAN General Register (5)

CANGIT
CANIT - OVRTIM OVRBUF SERG CERG FERG AERG

General Interrupt

CANIT : Set if one at least of the 15 channels has an IT

OVRTIM : Overrun CAN TIMER (roll over FFFF to 0000) can generate an
INT if ETIM bit in IE1 is set
OVRBUF : Overrun Buffer
SERG : Stuffing error detected
CERG : CRC error detected (the faulty channel will also get a CRC error in
its CANSTCH)
FERG : Form error
AERG : Acknowledge error general : A transmit message has not been
acknowledged (ACK bit was red at 1)

CAN Registers CAN Tutorial 16/03/2004 70

 CAN Tutorial
® C51 CAN General Register (6)

CANGIE
- - ENRX ENTX ENERCH ENBUF ENERG -

General Interrupt enable register

ENRX : Enable receive interrupt

ENTX : Enable Transmit Interrupt
ENERCH : Enable message error (SERR, CERR, FERR, AERR) coming
from any channel (See ENERG below)
ENBUF : Enable Buffer INT (OVRBUF)
ENERG : Enable general error (SERG, CERG, FERG, AERG) (See ENERCH
above)

CAN Registers CAN Tutorial 16/03/2004 71

 CAN Tutorial
® C51 CAN General register (7)

CANEN1
- ENCH14 ENCH13 ENCH12 ENCH11 ENCH10 ENCH9 ENCH8

CANEN2
ENCH7 ENCH6 ENCH5 ENCH4 ENCH3 ENCH2 ENCH1 ENCH0

ENCHi = 0 for unused channel

ENCHi = 1 for message enable (ready to send or ready to receive)
ENCHi is set by rewriting the configuration in CANCONCHi

CAN Registers CAN Tutorial 16/03/2004 72

 CAN Tutorial
® C51 CAN General register (8)

CANSIT1
- SIT14 SIT13 SIT12 SIT11 SIT10 SIT9 SIT8

CANSIT2
SIT7 SIT6 SIT5 SIT4 SIT3 SIT2 SIT1 SIT0

Status Interrupt message object

SITi = 0 No Interrupt for channel i

SITi = 1 Interrupt request from channel i

CAN Registers CAN Tutorial 16/03/2004 73

 CAN Tutorial
® C51 CAN General register (9)

CANIE1
- IECH14 IECH13 IECH12 IECH11 IECH10 IECH9 IECH8

CANIE2
IECH7 IECH6 IECH5 IECH4 IECH3 IECH2 IECH1 IECH0

Enable Interrupt message object

IECHi = Interrupt disable for channel i

SITi = 1 Interrupt enable for channel i

CAN Registers CAN Tutorial 16/03/2004 74

 CAN Tutorial
® C51 CAN General Register (10)

CANTEC
TEC7 TEC6 TEC5 TEC4 TEC3 TEC2 TEC1 TEC0

CANREC
REC7 REC6 REC5 REC4 REC3 REC2 REC1 REC0

CANTEC and CANREC : error counters

CAN Registers CAN Tutorial 16/03/2004 75

 CAN Tutorial
® CAN Message Object pointer register

CANPAGE

CHNB3 CHNB2 CHNB1 CHNB0 AINC INDX2 INDX1 INDX0

CHNB : Selection of the message object : 0 to 14

AINC : Auto-increment the index if AINC=0 . Successive access to

CANMSG register will read or write the successive bytes (up to 8)

INDX : Byte location (0 to 7) in the data buffer array pointed by CANMSG.

CAN Registers CAN Tutorial 16/03/2004 76

 CAN Tutorial
® C51 CAN Message object register (1)

CANCONCH
CONCH1 CONCH0 RPLV IDE DLC3 DLC2 DLC1 DLC0

CAN Message Object Control Register

CONCH : 00 Disable
01 Transmit
10 Receive
11 Receive Buffer
RPLV : Automatic reply (0 to reply not ready, 1 to reply ready)
IDE : 0 for CAN2.0A (11 bit Identifier)
1 for CAN2.0B (29 bit identifier)
DLC : Data length code (0 to 8) indicate the number of valid Bytes
expected from a received message. Give number of valid byte to
transmit for a transmit message.

CAN Registers CAN Tutorial 16/03/2004 77

 CAN Tutorial
® C51 CAN Message object register (2)

CANSTCH
DLCW TXOK RXOK BERR SERR CERR FERR AERR

Message Object status register

DLCW : Error number of receive byte is not equal to CANCONCH DLC

TXOK : transmit OK
RXOK : receive OK
BERR : transmit bit error.
Recessive bit detected while a dominant bit was sent.
Or Dominant ack bit during an error frame transmission
SERR : Stuffing error
CERR : CRC error
FERR : Form error
AERR : Ack error : no detection of a dominant bit in the ack slot

CANary Registers CAN Tutorial 16/03/2004 78

 CAN Tutorial
® Message object register IDT CAN2.0A (3)

CANIDT1
IDT10 IDT9 IDT8 IDT7 IDT6 IDT5 IDT4 IDT3

CANIDT2
IDT2 IDT1 IDT0 - - - - -

CANIDT3
- - - - - - - -

CANIDT4
- - - - - RTRTAG - RBOTAG

IDT = transmit Identifier or expected receive Identifier (see also mask)

RTRTAG : Remote transmit request tag
RB0TAG : reserved bit

CAN Registers CAN Tutorial 16/03/2004 79

 CAN Tutorial
® Message object register IDT CAN2.0B (4)

CANIDT1
IDT28 IDT27 IDT26 IDT25 IDT24 IDT23 IDT22 IDT21

CANIDT2
IDT20 IDT19 IDT18 IDT17 IDT16 IDT15 IDT14 IDT13

CANIDT3
IDT12 IDT11 IDT10 IDT9 IDT8 IDT7 IDT6 IDT5

CANIDT4
IDT4 IDT3 IDT2 IDT1 IDT0 RTRTAG RB1TAG RBOTAG

IDT = transmit Identifier or expected receive Identifier (see also mask)

RTRTAG : Remote transmit request tag
RB1TAG RB0TAG : reserved bit

CAN Registers CAN Tutorial 16/03/2004 80

 CAN Tutorial
® Message object register IDM CAN2.0A (5)

CANIDM1
IDMSK10 IDMSK9 IDMSK8 IDMSK7 IDMSK6 IDMSK5 IDMSK4 IDMSK3

CANIDM2
IDMSK2 IDMSK1 IDMSK0 - - - - -

CANIDM3
- - - - - - - -

CANIDM4
- - - - - RTRMSK - IDEMSK

IDM = Receive Identifier mask(see also IDT)

RTMSK : remote transmission request mask value : 0 comparison true
forced, 1 bit comparison enable
IDEMSK : Identifier extension mask value : 0 comparison true forced 1
comparison enable (detect CAN2.0b reception while CAN2.0a expected)
CAN Registers CAN Tutorial 16/03/2004 81
 CAN Tutorial
® Message object register IDM CAN2.0B (6)

CANIDM1
IDMSK28 IDMSK27 IDMSK26 IDMSK25 IDMSK24 IDMSK23 IDMSK22 IDMSK21

CANIDM2
IDMSK20 IDMSK19 IDMSK18 IDMSK17 IDMSK16 IDMSK15 IDMSK14 IDMSK13

CANIDM3
IDMSK12 IDMSK11 IDMSK10 IDMSK9 IDMSK8 IDMSK7 IDMSK6 IDMSK5

CANIDM4
IDMSK4 IDMSK3 IDMSK2 IDMSK1 IDMSK0 RTRMSK - IDEMSK

IDM = Receive Identifier mask(see also IDT)

RTMSK : remote transmission request mask value : 0 comparison true forced,
1 bit comparison enable
IDEMSK : Identifier extension mask value : 0 comparison true forced 1
comparison enable (detect CAN2.0A reception while CAN2.0B expected)

CAN Registers CAN Tutorial 16/03/2004 82

 CAN Tutorial
® C51 CAN Message object register (7)

CANMSG
MSG7 MSG6 MSG5 MSG4 MSG3 MSG2 MSG1 MSG0

Can Message . If auto increment is programmed in CANCONCH, the index

will be automatically incremented after each write or read into
CANMSG (count = 0 to 7)

CAN Registers CAN Tutorial 16/03/2004 83

 CAN Tutorial
® C51 CAN Timer register (1)

CANTCON

TPRESC7 TPRESC6 TPRESC5 TPRESC4 TPRESC3 TPRESC2 TPRESC1 TPRESC0

Prescaller for Timer Clock control (clock for CANTIMH/L)

The prescaller clock input is Fcan/6

CAN Registers CAN Tutorial 16/03/2004 84

 CAN Tutorial
® C51 CAN timer register (2)

CANTIMH

CANGTIM15 CANGTIM14 CANGTIM13 CANGTIM12 CANGTIM11 CANGTIM10 CANGTIM9 CANGTIM8

CANTIML

CANGTIM7 CANGTIM6 CANGTIM5 CANGTIM4 CANGTIM3 CANGTIM2 CANGTIM1 CANGTIM0

CAN general timer (16 bit) receives clock from the prescaller CANTCON

CAN Registers CAN Tutorial 16/03/2004 85

 CAN Tutorial
® Timestamp register 1 per message object (3)

CANSTAMPH

TIMSTMP15 TIMSTMP14 TIMSTMP13 TIMSTMP12 TIMSTMP11 TIMSTMP10 TIMSTMP9 TIMSTMP8

CANSTAMPL

TIMSTMP7 TIMSTMP6 TIMSTMP5 TIMSTMP4 TIMSTMP3 TIMSTMP2 TIMSTMP1 TIMSTMP0

CAN TIME STAMP (16 bit)

CANTIM value stored in CANSTAMP with TXOK or RXOK
One TimeStamp register per message object

CAN Registers CAN Tutorial 16/03/2004 86

 CAN Tutorial
® C51 CAN TTC register General register

CANTTCH

TIMTTC15 TIMTTC14 TIMTTC13 TIMTTC12 TIMTTC11 TIMTTC10 TIMTTC9 TIMTTC8

CANTTCL

TIMTTC7 TIMTTC6 TIMTTC5 TIMTTC4 TIMTTC3 TIMTTC2 TIMTTC1 TIMTTC0

CAN Time Trigger Communication TTC (16 bit)

CANTIM value stored in CANTTC at start of Frame if SYNCTTC=1 or End
Of Frame if SYNCTTC=0
Only one CANTTC register

CAN Registers CAN Tutorial 16/03/2004 87

 CAN Tutorial
® C51 CAN Detail data Frame

CAN Registers CAN Tutorial 16/03/2004 88

 CAN Tutorial
® Detail remote frame with automatic reply

CAN Registers CAN Tutorial 16/03/2004 89

 CAN Tutorial
® C51 CAN Detail remote frame

CAN Registers CAN Tutorial 16/03/2004 90

 CAN Tutorial
® C51 CAN How to start a CAN transmission

y Reset CAN Controller CANGCON = 0x01

y Disable CAN IT IE1.0=0
y Disable CAN Timer IT (TTC) IE1.2=0
y Initialize all Message Object (num = 0 to 14)
¾ CANPAGE = num shl(4)
¾ CANCONCH = 0 , CANSTCH=0, CANIDT(1:4)=0, CANIDM(1:4)=0
¾ For n=1 to 8 do CANMSG=0
y Initialize BIT timings: CANBT1, CANBT2, CANBT3
y Enable CAN controller: CANGCON = 0x02
y Configure one Message Object for TX
¾ Select CANPAGE
¾ Set CANIDT1 and CANIDT2
¾ Set CANMSG with message content (Auto-increment)
¾ Enable Message as Tx/6 Bytes/2.0B CANCONCH = 0x56
y Enable interrupts

CAN Registers CAN Tutorial 16/03/2004 91

 CAN Tutorial
® C51 CAN How to serve a CAN reception Interrupt

y Read CANGIT for CANIT and possible errors

y Read CANSIT1 & CANSIT2 to identify the channel (channel_I)
y Program the CANPAGE with the CHNB=I, AINC and INDEX
y Read CANSTCH for RXOK or a possible error
y For n=0 to n=7 : read CANMSG to read the message.
y Read CANSTMPH CANSTMPL (if time stamp is used)
y Rewrite CANCONCH CONCH[1:0] = 10 to re-enable the channel for a
new reception

CAN Registers CAN Tutorial 16/03/2004 92

 Atmel CAN controllers
®

CAN REGISTERS
AVR base Core

CAN Registers
 CAN Tutorial
® AVR CAN Memory

CAN Registers CAN Tutorial 16/03/2004 94

 CAN Tutorial
® AVR CAN Registers map

CAN Tutorial 16/03/2004 95

 CAN Tutorial
® AVR CAN General registers (1)
CANBT1

- BRP5 BRP4 BRP3 BRP2 BRP1 BRP0 -

CANBT2

- SJW1 SJW0 - PRS2 PRS1 PRS0 -

CANBT3

- PHS2-2 PHS2-1 PHS2-0 PHS1-2 PHS1-1 PHS1-0 SMP

BRP = prescaller. Tscl = (BRP+1)/CLKIO_Freq

SJW = resynchronization Jump bit
PRS = propagation to compensate physical delay
PHS2 = phase error compensation after sampling point
PHS1 = phase error compensation before sampling point
SMP = sample type : 0 for 1 sample, 1 for 3 samples (1/2Tscl apart
from center)

CAN Registers CAN Tutorial 16/03/2004 96

 CAN Tutorial
® AVR CAN General Registers (2)

CANGCON

ABRQ OVRQ TTC SYNCTTC LISTEN TEST ENA/STB# SWRES

General Control register

ABRQ : Abort request. An on going transmission or reception will be

completed before the abort.
OVRQ : Overload frame request (see frame format 4 page for details)
TTC : Set to select the Time Trigger Communication mode
SYNCTTC : select Start of Frame or end of Frame for TTC
synchronization
LISTEN : listening mode only when set
Test : factory reserved bit
ENA/STB# : Enable CAN standby when bit=0
SWRES : CAN Software Reset

CAN Registers CAN Tutorial 16/03/2004 97

 CAN Tutorial
® AVR CAN General Registers (3)

CANGSTA
- OVFG - TXBSY RXBSY ENFG BOFF ERRP

General Status register

OVFG : Overload Frame Flag (set while the overload frame is sent.
No IT)
TXBSY : Transmitter Busy (Set while a transmission is in progress)
RXBSY : Receive Busy (set while a reception is in progress)
ENFG : Enable On Chip CAN controller Flag. Cleared after
completion of on going transmit or receive after ENA has been
cleared in CANGCON
BOFF : Bus Off indication
ERRP : Error Passive indication

CAN Registers CAN Tutorial 16/03/2004 98

 CAN Tutorial
® AVR CAN General Register (5)

CANGIT
CANIT BOFFIT OVRTIM BXOK SERG CERG FERG AERG

General Interrupt

CANIT : CAN General IT status

BOFFIT : Bus Off IT
OVRTIM : Overrun CAN TIMER (roll over FFFF to 0000) can
generate an INT if ETIM bit in IE1 is set
BXOK : Frame Buffer receive Interrupt
SERG : Stuffing error detected
CERG : CRC error detected (the faulty MOB will also get a CRC
error in its CANSTMOB)
FERG : Form error
AERG : Acknowledge error general : A transmit message has not
been acknowledged (ACK bit was red at 1)

CAN Registers CAN Tutorial 16/03/2004 99

 CAN Tutorial
® AVR CAN General Register (6)

CANGIE
ENIT ENBOFF ENRX ENTX ENERR ENBX ENERG ENOVRT

General Interrupt enable register

ENIT : Enable all Interrupt except OVRTIM

ENBOFF : Enable Bus Off Interrupt
ENRX : Enable receive interrupt
ENTX : Enable Transmit Interrupt
ENERR : Enable message error (SERR, CERR, FERR, AERR) coming from
any MOB (See ENERG below)
ENBX : Enable Frame Buffer Interrupt
ENERG : Enable general error
ENOVRT: Enable Timer Overrun Interrupt

CAN Registers CAN Tutorial 16/03/2004 100

 CAN Tutorial
® AVR CAN General register (7)

CANEN1
- ENMOB14 ENMOB13 ENMOB12 ENMOB11 ENMOB10 ENMOB9 ENMOB8

CANEN2
ENMOB7 ENMOB6 ENMOB5 ENMOB4 ENMOB3 ENMOB2 ENMOB1 ENMOB0

ENMOBi = 0 for unused MOB

ENMOBi = 1 for message enable (ready to send or ready to receive)
ENMOBi is set by rewriting the configuration in CANCDMOBi

CAN Registers CAN Tutorial 16/03/2004 101

 CAN Tutorial
® AVR CAN General register (8)

CANSIT1
- SIT14 SIT13 SIT12 SIT11 SIT10 SIT9 SIT8

CANSIT2
SIT7 SIT6 SIT5 SIT4 SIT3 SIT2 SIT1 SIT0

Status Interrupt message object

SITi = 0 No Interrupt for MOBi

SITi = 1 Interrupt request from MOBi

CAN Registers CAN Tutorial 16/03/2004 102

 CAN Tutorial
® AVR CAN General register (9)

CANIE1
- IEMOB14 IEMOB13 IEMOB12 IEMOB11 IEMOB10 IEMOB9 IEMOB8

CANIE2
IEMOB7 IEMOB6 IEMOB5 IEMOB4 IEMOB3 IEMOB2 IEMOB1 IEMOB0

Enable Interrupt message object

IEMOBi = Interrupt disable for MOBi

CAN Registers CAN Tutorial 16/03/2004 103

 CAN Tutorial
® AVR CAN General Register (10)

CANTEC
TEC7 TEC6 TEC5 TEC4 TEC3 TEC2 TEC1 TEC0

CANREC
REC7 REC6 REC5 REC4 REC3 REC2 REC1 REC0

CANTEC and CANREC : error counters

CAN Registers CAN Tutorial 16/03/2004 104

 CAN Tutorial
® CAN MOB pointer and MOB priority pointer registers

CANPAGE

MOBNB3 MOBNB2 MOBNB1 MOBNB0 AINC# INDX2 INDX1 INDX0

CANHPMOB

HPMOB3 HPMOBB2 HPMOB1 HPMOB0 CGP3 CGP2 CGP1 CGP0

MOBNB : Selection of the Message Object Buffer (MOB) : 0 to 14

AINC# : Auto-increment the index if AINC=0 . Successive access to CANMSG
register will read or write the successive bytes (up to 8)
INDX : Byte location (0 to 7) in the data buffer array pointed by CANMSG.
HPMOB : Give the highest priority MOB with Interrupt request
CGP : General Purpose bit
Upon CAN Interrupt, CANHPMOB can be copied in CANPAGE

CAN Registers CAN Tutorial 16/03/2004 105

 CAN Tutorial
® AVR CAN Message object register (1)

CANCDMOB
CONMOB1 CONMOB0 RPLV IDE DLC3 DLC2 DLC1 DLC0

CAN Message Object Configuration Register

CONMOB : 00 Disable
01 Enable Transmit
10 Enable Receive
11 Enable Receive Frame Buffer
RPLV : Automatic reply (0 to reply not ready, 1 to reply ready)
IDE : 0 for CAN2.0A (11 bit Identifier)
1 for CAN2.0B (29 bit identifier)
DLC : Data length code (0 to 8) indicate the number of valid Bytes
expected from a received message. Give number of valid byte to
transmit for a transmit message.

CAN Registers CAN Tutorial 16/03/2004 106

 CAN Tutorial
® AVR CAN Message object register (2)

CANSTMOB
DLCW TXOK RXOK BERR SERR CERR FERR AERR

Message Object status register

DLCW : Error number of receive byte is not equal to CANCDMOB DLC

TXOK : transmit OK
RXOK : receive OK
BERR : transmit bit error.
Recessive bit detected while a dominant bit was sent.
Or Dominant ack bit during an error frame transmission
SERR : Stuffing error
CERR : CRC error
FERR : Form error
AERR : Ack error : no detection of a dominant bit in the ack slot

CAN Registers CAN Tutorial 16/03/2004 107

 CAN Tutorial
® Message object register IDT CAN2.0A (3)

CANIDT1
IDT10 IDT9 IDT8 IDT7 IDT6 IDT5 IDT4 IDT3

CANIDT2
IDT2 IDT1 IDT0 - - - - -

CANIDT3
- - - - - - - -

CANIDT4
- - - - - RTRTAG - RB0TAG

IDT = transmit Identifier or expected receive Identifier (see also mask)

RTRTAG : RTRbit of the Remote Data Frame to send
RB0TAG : RB0 bit of the of Remote Data Frame to send

CAN Registers CAN Tutorial 16/03/2004 108

 CAN Tutorial
® Message object register IDT CAN2.0B (4)

CANIDT1
IDT28 IDT27 IDT26 IDT25 IDT24 IDT23 IDT22 IDT21

CANIDT2
IDT20 IDT19 IDT18 IDT17 IDT16 IDT15 IDT14 IDT13

CANIDT3
IDT12 IDT11 IDT10 IDT9 IDT8 IDT7 IDT6 IDT5

CANIDT4
IDT4 IDT3 IDT2 IDT1 IDT0 RTRTAG RB1TAG RB0TAG

IDT = transmit Identifier or expected receive Identifier (see also mask)

RTRTAG : RTRbit of the Remote Data Frame to send
RB1TAG RB0TAG : RB1 RB0 bit of the Remote Data Frame to send

CAN Registers CAN Tutorial 16/03/2004 109

 CAN Tutorial
® Message object register IDM CAN2.0A (5)

CANIDM1
IDMSK10 IDMSK9 IDMSK8 IDMSK7 IDMSK6 IDMSK5 IDMSK4 IDMSK3

CANIDM2
IDMSK2 IDMSK1 IDMSK0 - - - - -

CANIDM3
- - - - - - - -

CANIDM4
- - - - - RTRMSK - IDEMSK

IDM = Receive Identifier mask(see also IDT)

RTMSK : remote transmission request mask value : 0 comparison true
forced, 1 bit comparison enable
IDEMSK : Identifier extension mask value : 0 comparison true forced 1
comparison enable (detect CAN2.0b reception while CAN2.0a expected)
CAN Registers CAN Tutorial 16/03/2004 110
 CAN Tutorial
® Message object register IDM CAN2.0B (6)

CANIDM1
IDMSK28 IDMSK27 IDMSK26 IDMSK25 IDMSK24 IDMSK23 IDMSK22 IDMSK21

CANIDM2
IDMSK20 IDMSK19 IDMSK18 IDMSK17 IDMSK16 IDMSK15 IDMSK14 IDMSK13

CANIDM3
IDMSK12 IDMSK11 IDMSK10 IDMSK9 IDMSK8 IDMSK7 IDMSK6 IDMSK5

CANIDM4
IDMSK4 IDMSK3 IDMSK2 IDMSK1 IDMSK0 RTRMSK - IDEMSK

IDM = Receive Identifier mask(see also IDT)

RTMSK : remote transmission request mask value : 0 comparison true
forced, 1 bit comparison enable
IDEMSK : Identifier extension mask value : 0 comparison true forced 1
comparison enable (detect CAN2.0A reception while CAN2.0B expected)

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 CAN Tutorial
® AVR CAN Message object register (7)

CANMSG
MSG7 MSG6 MSG5 MSG4 MSG3 MSG2 MSG1 MSG0

Can Message . If auto increment is programmed in CANPAGE, the index will

be automatically incremented after each write or read into CANMSG (count
= 0 to 7, then roll-over from 7 back to 0)

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 CAN Tutorial
® AVR CAN Timer register (1)

CANTCON

TPRESC7 TPRESC6 TPRESC5 TPRESC4 TPRESC3 TPRESC2 TPRESC1 TPRESC0

Prescaller for Timer Clock control (clock for CANTIMH/L)

The prescaller clock input is CLKio_Freq/8

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 CAN Tutorial
® CAN timer register (2) AVR CAN

CANTIMH

CANGTIM15 CANGTIM14 CANGTIM13 CANGTIM12 CANGTIM11 CANGTIM10 CANGTIM9 CANGTIM8

CANTIML

CANGTIM7 CANGTIM6 CANGTIM5 CANGTIM4 CANGTIM3 CANGTIM2 CANGTIM1 CANGTIM0

CAN general timer (16 bit) receives clock from the prescaller CANTCON

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 CAN Tutorial
® Timestamp register 1 per message object (3)

CANSTAMPH

TIMSTMP15 TIMSTMP14 TIMSTMP13 TIMSTMP12 TIMSTMP11 TIMSTMP10 TIMSTMP9 TIMSTMP8

CANSTAMPL

TIMSTMP7 TIMSTMP6 TIMSTMP5 TIMSTMP4 TIMSTMP3 TIMSTMP2 TIMSTMP1 TIMSTMP0

CAN TIME STAMP (16 bit)

CANTIM value stored in CANSTAMP with TXOK or RXOK
One Time Stamp register per message object

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 CAN Tutorial
® AVR CAN TTC register General register

CANTTCH

TIMTTC15 TIMTTC14 TIMTTC13 TIMTTC12 TIMTTC11 TIMTTC10 TIMTTC9 TIMTTC8

CANTTCL

TIMTTC7 TIMTTC6 TIMTTC5 TIMTTC4 TIMTTC3 TIMTTC2 TIMTTC1 TIMTTC0

CAN Time Trigger Communication TTC (16 bit)

CANTIM value stored in CANTTC at start of Frame if SYNCTTC=1 or End
Of Frame if SYNCTTC=0
Only one CANTTC register

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 CAN Tutorial
® How to start a CAN2.0B Transmission

y Reset CAN Controller CANGCON = 0x01

y Disable CAN IT CANGIE=0x00
y Initialize all Message Object (MOB = 0 to 14)
¾ CANPAGE = MOBnum << 4 (notice this will set INDx=0 and AutoINC)
¾ Initialize CANCDMOB
y Initialize BIT timings: CANBT1, CANBT2, CANBT3
y Enable Interrupt : CANGIE,CANIE2, CANIE1
y Enable CAN controller: CANGCON = 0x02
y Configure one Message Object for TX
¾ Select CANPAGE
¾ Set CANIDT1, CANIDT2, CANIDT3, CANIDT4
¾ Set CANMSG with message content (Auto-increment)
¾ Enable Message as Tx/6 Bytes/2.0B CANCDMOB = 0x56
See the ATAVRCAN1m128 Software driver for source code. Above is only a commented
example.

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 CAN Tutorial
® How to serve a CAN Reception Interrupt

y Read CANGIT for possible errors

y Copy CANHPMOB into CANPAGE (will serve the highest
priority MOB requesting attention see note below)
y Read CANSTMOB for RXOK or a possible error
y Read CANIDT[4:1] to load the receive ID
y Read DCLW in CANSTMOB to get the number of valid
bytes in the CAN data field (1 to 8)
y For n=0 to n= DCLW : read CANMSG to read the Data
message.
y Read CANSTMPH CANSTMPL (if time stamp is used)
y Rewrite CANCONCH CONCH[1:0] = 10 to re-enable the
channel for a new reception

See the AT90CAN128 Software driver for source code. Above is only a
commented example.

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 CAN Tutorial
® Conclusion
y CAN: The most used protocol in industrial & automotive
applications
¾ strong support by many HLPs & CAN tool vendors

y Atmel CAN unique feature in its range:

¾ including an advanced powerful CAN Controller
¾ In-System-Programming (ISP) of Program Flash via CAN
bus
¾ separated Flash memories for Program & Boot functions

y Atmel CAN: designed for industrial and automotive

applications

Atmel CAN the ultimate CAN Controller

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