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CHAPTER 16 CAN controller
I Node Status Transition due to Error Occurrence
In the CAN controller, the node status transits according to the error count of the receive/transmit error
counter (RTEC).Figure 16.3-8 shows the node status transition.
REC ≥ 128
or TEC ≥ 128
Error passive
Table 16.3-6 Node Status
Error active
Warning
Error passive
Bus off
494
Figure 16.3-8 Node Status Transition
REC ≥ 96
or TEC ≥ 96
Warning
(error active)
REC < 128
and TEC < 128
Node Status
Normal state
A bus fault occurs
Communications are disabled.The CAN controller is completely
isolated from the CAN bus.
(To return to the normal state, perform the steps in the above figure.)
Hardware reset
When transfering, need to release of bus
operation stop
Error active
After 0 was written to the HALT bit of the
control status register (CSR),
continuous 11-bit High levels (recessive) are
input 128 times to the receive input pin (RX)
REC < 96
to transit.
and TEC < 96
TEC ≥ 256
State of CAN Bus
REC : Reception error counter
TEC : Transmission error counter
Bus off
(HALT=1)
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