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© 2009-2012 Microchip Technology Inc. DS61154C-page 34-1
Controller Area
Network (CAN)
34
Section 34. Controller Area Network (CAN)
HIGHLIGHT
This section of the manual contains the following topics:
34.1 Introduction..............................................................................................................34-2
34.2 CAN Message Formats ...........................................................................................34-4
34.3 CAN Registers.........................................................................................................34-9
34.4 Enabling and Disabling the CAN Module ..............................................................34-47
34.5 CAN Module Operating Modes.............................................................................. 34-47
34.6 CAN Message Handling ....................................................................................... 34-49
34.7 Transmitting a CAN Message................................................................................ 34-56
34.8 CAN Message Filtering.......................................................................................... 34-68
34.9 Receiving a CAN Message....................................................................................34-75
34.10 Bit Timing...............................................................................................................34-83
34.11 CAN Error Management ........................................................................................ 34-87
34.12 CAN Interrupts.......................................................................................................34-90
34.13 CAN Received Message Time Stamping............................................................... 34-94
34.14 Power-Saving Modes ............................................................................................34-95
34.15 Related Application Notes .....................................................................................34-96
34.16 Revision History..................................................................................................... 34-97
PIC32 Family Reference Manual
DS61154C-page 34-2 © 2009-2012 Microchip Technology Inc.
34.1 INTRODUCTION
The PIC32 Controller Area Network (CAN) module implements the CAN Specification 2.0B,
which is used primarily in industrial and automotive applications. This asynchronous serial data
communication protocol provides reliable communication in an electrically noisy environment.
The PIC32 device family integrates up to two CAN modules. Figure 34-1 illustrates a typical CAN
bus topology.
Figure 34-1: Typical CAN Bus Network
The CAN module supports the following key features:
• Standards Compliance:
- Full CAN Specification 2.0B compliance
- Programmable bit rate up to 1 Mbps
• Message Reception and Transmission:
- 32 message FIFOs
- Each FIFO can have up to 32 messages for a total of 1024 messages
- FIFO can be a transmit message FIFO or a receive message FIFO
- User-defined priority levels for message FIFOs used for transmission
- 32 acceptance filters for message filtering
- Four acceptance filter mask registers for message filtering
- Automatic response to Remote Transmit Request (RTR)
- DeviceNet™ addressing support
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 (CAN)”
chapter in the current device data sheet to check whether this document supports
the device you are using.
Device data sheets and family reference manual sections are available for
download from the Microchip Worldwide Web site at: http://www.microchip.com
CAN
bus
CAN1
PIC®
with Integrated
ECAN
CAN
Transceiver
dsPIC33F
with Integrated
ECAN™
dsPIC30F
with Integrated
CAN
Transceiver
CAN Transceiver
CAN
Transceiver
CAN
CAN2
CAN
Transceiver
PIC32
© 2009-2012 Microchip Technology Inc. DS61154C-page 34-3
Section 34. Controller Area Network (CAN)
Controller Area
Network (CAN)
34
• Additional Features:
- Loopback, Listen All Messages and Listen-Only modes for self-test, system diagnostics
and bus monitoring
- Low-power operating modes
- CAN module is a bus master on the PIC32 system bus
- Does not require Direct Memory Access (DMA) channels for operation
- Dedicated time stamp timer
- Data-only Message Reception mode
Figure 34-2 illustrates the general structure of the CAN module.
Figure 34-2: PIC32 CAN Module Block Diagram
The CAN module consists of a protocol engine, message acceptance filters and Message
Assembly Buffers (MABs). The protocol engine transmits and receives messages to and from the
CAN bus (as per CAN Specification 2.0B). Received messages are assembled in the receive
message assembly buffer. The received message is then filtered by the message acceptance
filters. The transmit message assembly buffer holds the message to be transmitted as it is
processed by the protocol engine.
The CAN message buffers reside in device RAM. There are no CAN message buffers in the CAN
module. Therefore, all messages are stored in device RAM. The CAN module is a bus master on
the PIC32 system bus, and will read and write data to device RAM as required. The CAN module
does not use DMA for its operation and fetches messages from the device RAM without DMA or
CPU intervention.
Message Buffer 31
Message Buffer 1
Message Buffer 0
Message Buffer 31
Message Buffer 1
Message Buffer 0
Message Buffer 31
Message Buffer 1
Message Buffer 0
FIFO0 FIFO1 FIFO31
Device RAM
Up to 32 Message Buffers
CAN Message FIFO (up to 32 FIFOs)
Message
Buffer Size
2 or 4 Words
System Bus
CPU
CAN Module
32 Filters
4 Masks
CxTX
CxRX

Product specificaties

Merk: Microchip
Categorie: Niet gecategoriseerd
Model: PIC32MX795F512L

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