PIC18F4580-ESLASHML datasheet(344/490 Pages) MICROCHIP

344 / 490 page

PIC18F2480/2580/4480/4580

DS39637D-page 344

24.13 Bit Timing Configuration

Registers

The Baud Rate Control registers (BRGCON1,

BRGCON2, BRGCON3) control the bit timing for the

CAN bus interface. These registers can only be modi-

fied when the PIC18F2480/2580/4480/4580 devices

are in Configuration mode.

24.13.1

BRGCON1

The BRP bits control the baud rate prescaler. The

SJW<1:0> bits select the synchronization jump width in

terms of multiples of TQ.

24.13.2

BRGCON2

The PRSEG bits set the length of the propagation seg-

ment in terms of TQ. The SEG1PH bits set the length of

Phase Segment 1 in TQ. The SAM bit controls how

many times the RXCAN pin is sampled. Setting this bit

to a ‘1’ causes the bus to be sampled three times: twice

at TQ/2 before the sample point and once at the normal

sample point (which is at the end of Phase Segment 1).

The value of the bus is determined to be the value read

during at least two of the samples. If the SAM bit is set

to a ‘0’, then the RXCAN pin is sampled only once at

the sample point. The SEG2PHTS bit controls how the

length of Phase Segment 2 is determined. If this bit is

set to a ‘1’, then the length of Phase Segment 2 is

determined by the SEG2PH bits of BRGCON3. If the

SEG2PHTS bit is set to a ‘0’, then the length of Phase

Segment 2 is the greater of Phase Segment 1 and the

information processing time (which is fixed at 2 TQ for

the PIC18F2480/2580/4480/4580).

24.13.3

BRGCON3

The PHSEG2<2:0> bits set the length (in TQ) of Phase

Segment 2 if the SEG2PHTS bit is set to a ‘1’. If the

SEG2PHTS bit is set to a ‘0’, then the PHSEG2<2:0>

bits have no effect.

24.14 Error Detection

The CAN protocol provides sophisticated error

detection mechanisms. The following errors can be

detected.

24.14.1

CRC ERROR

With the Cyclic Redundancy Check (CRC), the trans-

mitter calculates special check bits for the bit

sequence, from the start of a frame until the end of the

data field. This CRC sequence is transmitted in the

CRC field. The receiving node also calculates the CRC

sequence using the same formula and performs a

comparison to the received sequence. If a mismatch is

detected, a CRC error has occurred and an error frame

is generated. The message is repeated.

24.14.2

ACKNOWLEDGE ERROR

In the Acknowledge field of a message, the transmitter

checks if the Acknowledge slot (which was sent out as

a recessive bit) contains a dominant bit. If not, no other

node has received the frame correctly. An Acknowl-

edge error has occurred, an error frame is generated

and the message will have to be repeated.

24.14.3

FORM ERROR

If a node detects a dominant bit in one of the four seg-

ments, including End-Of-Frame (EOF), interframe

space, Acknowledge delimiter or CRC delimiter, then a

form error has occurred and an error frame is

generated. The message is repeated.

24.14.4

BIT ERROR

A bit error occurs if a transmitter sends a dominant bit

and detects a recessive bit, or if it sends a recessive bit

and detects a dominant bit, when monitoring the actual

bus level and comparing it to the just transmitted bit. In

the case where the transmitter sends a recessive bit

and a dominant bit is detected during the arbitration

field and the Acknowledge slot, no bit error is

generated because normal arbitration is occurring.

24.14.5

STUFF BIT ERROR

lf, between the Start-Of-Frame (SOF) and the CRC

delimiter, six consecutive bits with the same polarity are

detected, the bit stuffing rule has been violated. A stuff

bit error occurs and an error frame is generated. The

message is repeated.

24.14.6

ERROR STATES

Detected errors are made public to all other nodes via

error frames. The transmission of the erroneous mes-

sage is aborted and the frame is repeated as soon as

possible. Furthermore, each CAN node is in one of the

three error states; “error-active”, “error-passive” or

“bus-off”, according to the value of the internal error

counters. The error-active state is the usual state

where the bus node can transmit messages and acti-

vate error frames (made of dominant bits) without any

restrictions. In the error-passive state, messages and

passive error frames (made of recessive bits) may be

transmitted. The bus-off state makes it temporarily

impossible for the node to participate in the bus

communication. During this state, messages can neither

be received nor transmitted.

24.14.7

ERROR MODES AND ERROR

COUNTERS

The PIC18F2480/2580/4480/4580 devices contain two

error counters: the Receive Error Counter (RXERRCNT)

and the Transmit Error Counter (TXERRCNT). The

values of both counters can be read by the MCU. These

counters

are

incremented

decremented

accordance with the CAN bus specification.

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