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22.1 CAN 2.0B Features ...................................................................................... 22-2
22.2 CAN Theory of Operation............................................................................. 22-2
22.3 CAN Programmer's Model ........................................................................... 22-6
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21.2.3.3 Port A Data Direction Register ....................................................... 21-6
21.2.3.4 Port B Data Direction Register ....................................................... 21-7
21.2.3.5 Port C Data Register ...................................................................... 21-8
21.2.3.6 Port D Data Register ...................................................................... 21-9
21.2.3.7 Port C Data Direction Register ..................................................... 21-10
21.2.3.8 Port D Data Direction Register ..................................................... 21-11
21.2.3.9 Port E Data Register..................................................................... 21-12
21.2.3.10 Port F Data Register................................................................... 21-13
21.2.3.11 Port E Data Direction Register ................................................... 21-14
21.2.3.12 Port F Data Direction Register.................................................... 21-15
21.2.3.13 Port G Data Register .................................................................. 21-16
21.2.3.14 Port H Data Register .................................................................. 21-17
21.2.3.15 Port G Data Direction Register ................................................... 21-18
21.2.3.16 Port H Data Direction Register ................................................... 21-19
21.2.3.17 Port I Data Register .................................................................... 21-20
21.2.3.18 Port J Data Register ................................................................... 21-21
21.2.3.19 Port I Data Direction Register..................................................... 21-22
22.2.1 Protocols ............................................................................................... 22-3
22.2.2 Frame Types ......................................................................................... 22-3
22.2.2.1 Message Frame.............................................................................. 22-3
22.2.2.2 Remote Frame................................................................................ 22-4
22.2.2.3 Bit Errors......................................................................................... 22-4
22.2.2.4 Message Errors .............................................................................. 22-4
22.2.2.5 Acknowledgement Errors ............................................................... 22-4
22.2.3 Transmitted and Received Data ............................................................ 22-4
22.2.4 Time Delays .......................................................................................... 22-5
22.2.5 Bus Timing ............................................................................................ 22-5
22.2.6 Bus Arbitration....................................................................................... 22-5
22.2.7 Error Handling ....................................................................................... 22-6
22.3.1 CAN Register Summary ........................................................................ 22-7
22.3.2 CAN Register Definitions....................................................................... 22-8
22.3.2.1 Mode Register ................................................................................ 22-8
22.3.2.2 Command Register......................................................................... 22-9
22.3.2.3 Status Register ............................................................................. 22-10
22.3.2.4 Interrupt Register.......................................................................... 22-12
22.3.2.5 Interrupt Enable Register.............................................................. 22-13
22.3.2.6 Bus Timing Register 0 .................................................................. 22-14
22.3.2.7 Bus Timing Register 1 .................................................................. 22-15
22.3.2.8 Arbitration Lost Capture Register ................................................. 22-16
22.3.2.9 Error Code Capture Register........................................................ 22-18
22.3.2.10 Error Warning Limit Register ...................................................... 22-20
22.3.2.11 Receive Error Counter Register ................................................. 22-21
22.3.2.12 Transmit Error Counter Register ................................................ 22-22
LH75400/01/10/11 (Preliminary) User's Guide
6/17/03
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