滤波参考P32-MCP25XXFD-FRM,-CAN-FD-Controller-Module-DS20005678D.pdf

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 2017-2019 Microchip Technology Inc. DS20005678D-page 1

HIGHLIGHTS

This section of the manual contains the following major topics:

1.0 Introduction ....................................................................................................................... 2

2.0 Modes of Operation .......................................................................................................... 8

3.0 Configuration................................................................................................................... 13

4.0 Message Transmission ................................................................................................... 26

5.0 Transmit Event FIFO....................................................................................................... 33

6.0 Message Filtering............................................................................................................36

7.0 Message Reception ........................................................................................................ 41

8.0 FIFO Behavior................................................................................................................. 45

9.0 Timestamping.................................................................................................................. 58

10.0 Interrupts......................................................................................................................... 59

11.0 Error Handling................................................................................................................. 68

12.0 Appendix A: MCP25XXFD CAN FD SPI API .................................................................. 70

13.0 Related Documents ........................................................................................................ 76

14.0 Revision History .............................................................................................................. 77

CAN FD Controller Module

MCP25XXFD Family Reference Manual

DS20005678D-page 4  2017-2019 Microchip Technology Inc.

1.3 Module Block Diagram

Figure 1-2 shows the block diagram of the CAN FD Controller module.

• The CAN FD Controller module has multiple modes:

- Configuration,

- Normal CAN FD,

- Normal CAN 2.0,

- Sleep (normal Sleep mode and Low-Power mode)

- Listen Only

- Restricted Operation

- Internal and External Loopback modes

• The CAN FD Bit Stream Processor (BSP) implements the Medium Access Control of the

CAN FD protocol described in ISO 11898-1:2015. It serializes and deserializes the bit

stream, encodes and decodes the CAN FD frames, manages the medium access,

Acknowledges frames, and detects and signals errors.

• The TX Handler prioritizes the messages that are requested for transmission by the

Transmit FIFOs. It uses the RAM interface to fetch the transmit data from RAM and

provides them to the BSP for transmission.

• The BSP provides received messages to the RX Handler. The RX Handler uses

acceptance filters to filter out messages that shall be stored into the Receive FIFOs. It uses

the RAM Interface to store received data into RAM.

• Each FIFO can be configured either as a Transmit or Receive FIFO. The FIFO control

keeps track of the FIFO head and tail, and calculates the user address. For a TX FIFO, the

user address points to the address in RAM where the data for the next transmit message

shall be stored. For an RX FIFO, the user address points to the address in RAM where the

data of the next receive message shall be read. The user notifies the FIFO that a message

was written to or read from RAM by incrementing the head/tail of the FIFO.

• The Transmit Queue (TXQ) is a special Transmit FIFO that transmits the messages based

on the ID of the messages stored in the queue.

• The Transmit Event FIFO (TEF) stores the message IDs of the transmitted messages.

• A free-running Time Base Counter is used to timestamp received messages. Messages in

the TEF can also be timestamped.

• The CAN FD Controller module generates interrupts when new messages are received or

when messages were transmitted successfully.

• The Special Function Registers (SFRs) are used to control and read the status of the CAN

FD Controller module.

Figure 1-2: Module Block Diagram

CAN FD

Bit Stream

Processor

RAM

Interface

TX Handler

TX Prioritization

RX Handler

Acceptance

Filter

TXQ Control

TEF

Control

FIFO

Control

SFR

Interrupt

Control

Error

Handling

Diagnostics

Time Stamping

TBC

Mode

Control

 2017-2019 Microchip Technology Inc. DS20005678D-page 5

CAN FD Controller Module

1.4 CAN FD Message Frames

The ISO 11898-1:2015 describes the different CAN message frames in detail. Figure 1-3

through Figure 1-7 clarify and summarize the construction of the messages and fields.

There are four different CAN data/remote frames (see Figure 1-4):

• CAN Base Frame: Classic CAN 2.0 frame using Standard ID (SID).

• CAN FD Base Frame: CAN FD frame using Standard ID (SID).

• CAN Extended Frame: Classic CAN 2.0 frame using Extended ID (EID).

• CAN FD Extended Frame: CAN FD frame using Extended ID (EID).

There are no remote frames in CAN FD frames; therefore, the RTR bit is replaced with the RRS

bit (see Figure 1-4). The RRS bit in the CAN FD base frame can be used to extend the SID to

12 bits. When enabled, it is referred to as SID11, it is the Least Significant Byte (LSB) of

SID[11:0].

Figure 1-5 specifies the control field of the different CAN messages. Before CAN FD was added

to the ISO 11898-1:2015, the FDF bit was a reserved bit. Now the FDF bit selects between

Classic and CAN FD formats.

The BRS bit selects if the bit rate should be switched in the data phase of the CAN FD frames.

Figure 1-8 illustrates the error and overload frames. These special frames didn’t change. Note

that if an error is detected during the data phase of a CAN FD frame, the bit rate will be switched

back to the Nominal Bit Rate (NBR). Error frames are always transmitted at the arbitration bit

rate.

1.4.1 ISO VS. NON-ISO CRC

To support the system validation of non-ISO CRC ECUs, the CAN FD Controller module

supports both ISO CRC (according to ISO 11898-1:2015) and non-ISO CRC (see Figure 1-6

and Figure 1-7). The CRC field is selectable using CiCON.ISOCRCEN. The ISO CRC field

contains the stuff count. This count wasn’t included in the original CAN FD specification. It was

added to fix a weakness in the error detection of the original specification.

CAN FD frames use two different lengths of CRC: 17-bit for up to 16 data bytes and 21 bits for

20 or more data bytes. Technically, there are a total of six different CAN data/remove frames in

CAN FD.

Figure 1-3: General Data Frame

SOF

(1b)

ARBITRATION(12/32b) CTRL(6/8/9b) DATA(0 to 64B)

CRC(16/18/22b)

CRC(16/22/26b)

ACK(2b) EOF(7b) IFS(≥3b)IFS(≥3b)

DATA FRAME

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