Infineon C166 Series Istruzioni per l'installazione e il funzionamento

lication Note, V 1.0, Feb. 2004

CAN

Connecting C166 and C500

Microcontroller to CAN

Microcontrollers

AP29000

Never stop thinking.

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Controller Area Network (CAN): License of Robert Bosch GmbH

CAN

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Edition 2004-02

Published by

Infineon Technologies AG

81726 München, Germany

LEGAL DISCLAIMER

THE INFORMATION GIVEN IN THIS APPLICATION NOTE IS GIVEN AS A HINT FOR THE

IMPLEMENTATION OF THE INFINEONTECHNOLOGIES COMPONENT ONLY AND SHALL NOT BE

REGARDED AS ANY DESCRIPTION ORWARRANTY OF A CERTAIN FUNCTIONALITY, CONDITION OR

QUALITY OF THE INFINEON TECHNOLOGIES COMPONENT. THE RECIPIENT OF THISAPPLICATION

NOTE MUST VERIFY ANY FUNCTIONDESCRIBED HEREIN IN THE REAL APPLICATION. INFINEON

TECHNOLOGIES HEREBY DISCLAIMS ANY AND ALL WARRANTIES AND LIABILITIES OF ANY KIND

(INCLUDING WITHOUT LIMITATION WARRANTIES OF NON-INFRINGEMENT OF INTELLECTUAL

PROPERTY RIGHTS OF ANY THIRD PARTY) WITH RESPECT TO ANY AND ALL INFORMATION GIVEN

IN THIS APPLICATION NOTE.

Information

For further information on technology, delivery terms and conditionsand prices please contact your nearest

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Warnings

Due to technical requirements components may contain dangerous substances. For information on the types

in question please contact your nearest Infineon Technologies Office.

Infineon Technologies Components may only be used in life-support devicesor systems with the express

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and/or maintain and sustain and/or protect humanlife. If they fail, it is reasonable to assume that the health

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AP29000

Connecting C166 and C500 Microcontroller to CAN

Table of Contents

Application Note 3 V 1.0, 2004-02

Table of Contents Page

1Abbreviations and Symbols........................................................................... 2

2Introduction ................................................................................................... 2

3The Controller Area Network (CAN).............................................................. 2

3.1 CAN Basics ................................................................................................... 2

3.2 Addressing and Bus Arbitration..................................................................... 2

3.3 The different CAN Frames and their Formats ............................................... 2

3.3.1 Data Frame ............................................................................................... 2

3.3.1.1 Standard CAN Data Frame.................................................................. 2

3.3.1.2 Extended CAN Data Frame ................................................................. 2

3.3.2 Remote Frame .......................................................................................... 2

3.3.2.1 Standard CAN Remote Frame ............................................................. 2

3.3.2.2 Extended CAN Remote Frame ............................................................ 2

3.3.3 Error Frames, Overload Frame, Interframe Space.................................... 2

3.3.3.1 Error Frames........................................................................................ 2

3.3.3.2 Overload Frame ................................................................................... 2

3.3.3.3 Interframe Space.................................................................................. 2

3.4 The Nominal Bit Time.................................................................................... 2

3.5 Error Detection and Error Handling ............................................................... 2

3.6 Different CAN Implementations..................................................................... 2

3.6.1 Standard CAN, Extended CAN ................................................................. 2

3.6.2 Basic CAN, Full CAN................................................................................. 2

4The Infineon CAN Devices C167CR, C515C and SAE 81C90/91................. 2

4.1 The Microcontroller Families C500 and C166 at a Glance............................ 2

4.2 The CAN Module on the C167CR / C515C................................................... 2

4.2.1 The Functional Blocks of the CAN Module................................................ 2

4.2.2 Control Registers of the CAN Controller.................................................... 2

4.2.3 The Message Objects ............................................................................... 2

4.2.4 Initialization of the CAN Controller ............................................................ 2

4.3 The Stand-Alone Full-CAN Controller SAE 81C90/91................................... 2

4.3.1 Important Features of the SAE 81C90/91 ................................................. 2

4.3.2 Functional blocks of the SAE 81C90/91 .................................................... 2

4.3.3 The most important Control Registers of the SAE 81C90/91 .................... 2

4.3.4 Initialization of the SAE 81C90/91 and Bus Access .................................. 2

5Examples for the Connection of Infineon Microcontrollers to CAN................ 2

5.1 Connecting the C167CR / C515C to CAN..................................................... 2

5.2 Connecting the SAB 80C166 to CAN using the parallel interface of the

SAE 81C90 ................................................................................................. 2

AP29000

Connecting C166 and C500 Microcontroller to CAN

Table of Contents

Application Note 4 V 1.0, 2004-02

5.3 Connecting the C511 / C513 to CAN using the serial interface of the

SAE 81C91 ................................................................................................. 2

5.4 A proposal for the CAN Bus Cables .............................................................. 2

6Ways of handling the SAE 81C90/91 and the CAN Module on the C167CR /

C515C......................................................................................................... 2

6.1 Notes on the following Sections .................................................................... 2

6.2 Accessing the Registers of the CAN Module and the SAE 81C90/91 ........... 2

6.3 Configuration of the Bit Timing...................................................................... 2

6.4 Ways of Handling the CAN Module............................................................... 2

6.4.1 The Initialization of the CAN Module on the C167CR / C515C ................. 2

6.4.2 The Transmission of a Data Frame with the CAN Module ........................ 2

6.4.3 The Transmission of a Remote Frame with the CAN Module ................... 2

6.4.4 Evaluation of a received Message with the CAN Module.......................... 2

6.5 Ways of Handling the SAE 81C90/91 ........................................................... 2

6.5.1 The Initialization of the SAE 81C90/91...................................................... 2

6.5.2 The Transmission of a Data Frame / Remote Frame with the

SAE 81C90/91 .......................................................................................... 2

6.5.3 Evaluation of a received Message with the SAE 81C90/91....................... 2

6.6 How to use the Basic CAN Features of the CAN Module and the SAE

81C90/91 .................................................................................................... 2

6.6.1 The Basic-CAN Feature of the CAN Module............................................. 2

6.6.2 The Monitor Mode of the SAE 81C90/91................................................... 2

AP29000

Connecting C166 and C500 Microcontroller to CAN

Abbreviations and Symbols

Application Note 5 V 1.0, 2004-02

1Abbreviations and Symbols

The following abbreviations and symbols are used throughout this application note:

ABUS "Allgemeine Bitserielle Universelle Schnittstelle" (VW protocol)

BL1, BL2 Bit timing registers of the SAE 81C90/91

BRP Baudrate Prescaler

BSP Bit Stream Processor

BTL Bit Timing Logic

CAN Controller Area Network (Bosch)

CAN_H, CAN_L Names of the CAN bus lines

CCE Bit in the Control Register of the CAN module

CiA CAN in Automation (CAN User Group)

CIL CPU Interface Logic

CPU Central Processing Unit

CRC Cyclic Redundancy Check

CSMA/CD Carrier Sense Multiple Access / Collision Detection

CTRL Control Register of the SAE 81C90/91

EML Error Management Logic

IC Integrated Circuit

IM Bit in the MOD Register of the SAE 81C90/91

INIT Bit in the Control Register of the CAN module

INT Interrupt Register of the SAE 81C90/91

J1850 Protocol from Chrysler, GM, Ford

MOD Status- and Control Register of the SAE 81C90/91

NDA Non-Destructive Arbitration

NRZ Non-Return-to-Zero

PEC Peripheral Event Controller

PLCC Plastic Leaded Chip Carrier

PWM Pulse Width Modulation

RAM Random Access Memory

REC Receive Error Counter

RES Bit in the MOD Register of the SAE 81C90/91

ROM Read Only Memory

RTR Remote Transmission Request

Rx0, Rx1 Receive Inputs of the SAE 81C90/91

SJW Synchronisation Jump Width

TCEC Transmit Check Error Counter

TCL Transceiver Control Logic

TEC Transmit Error Counter

TSEG1, TSEG2 Segments of the CAN bit cell

Tx0, Tx1 Transmit Outputs of the SAE 81C90/91

AP29000

Connecting C166 and C500 Microcontroller to CAN

Abbreviations and Symbols

Application Note 6 V 1.0, 2004-02

USART Universal Synchronous/Asynchronous Receiver/Transmitter

VAN Vehicle Area Network (Peugeot, Renault)

XBUS Chip-internal bus on the C167CR

This application note describes the CAN1Protocol, Infineon CAN devices and different

options for connecting devices of the Infineon C166 and C500 microcontroller families

to the Controller Area Network (CAN). It replaces the German application note "CAN-

Anschluß für die Mikrocontrollerfamilien C166 and C500".

After the introduction (Section 1), Section 2 introduces the reader to the Controller

Area Network (CAN). Section 3 describes the Infineon CAN devices, the 16-bit

microcontroller C167CR, the 8-bit microcontroller C515C, and the Stand-Alone Full-

CAN Controller SAE 81C90/91. Section 4 gives hardware examples for connection of

Infineon microcontrollers to CAN. Finally, in Section 5, ways of handling the

SAE 81C90/91 and the CAN module on the C167CR and the C515C are given.

Whilst every effort has been made to ensure the accuracy of information contained in

this application note, the authors cannot be held responsible for any consequences

arising from its use.

1Controller Area Network (CAN): License of Robert Bosch GmbH

AP29000

Connecting C166 and C500 Microcontroller to CAN

Introduction

Application Note 7 V 1.0, 2004-02

2Introduction

Ever increasing quantities of electronic devices are fitted to modern motor vehicles.

Examples of such devices include engine management systems, active suspension,

ABS, gear control, lighting control, air conditioning, airbags and central locking. All this

means more safety and more comfort for the driver and of course a reduction of fuel

consumption and exhaust emissions. To improve the behaviour of the vehicle even

further, it is necessary for the different control systems (and their sensors) to exchange

information. At present, this is usually done by discrete interconnection of the different

systems (i.e. point to point wiring). The requirement for information exchange has now

grown to such an extent that a cable network with a length of up to several kilometers

and many connectors is required. This produces growing problems concerning

material cost, production time and reliability.

The solution to this problem is the connection of the control systems via a serial bus

system. This bus has to fulfill some special requirements due to its usage in a vehicle:

Data Rate

Much of the data that is exchanged by the control systems (or by sensors) has to be

processed in real time which requires very fast transmission. Data items may differ in

transmission priority (e.g. Airbag data is likely to be high priority, Air Conditioning data

is likely to be low priority). For very high priority data the latency period between the

transmission request and the actual start of the transmission is very important and

must be minimized. The serial bus therefore must provide very fast transmission, short

message length and bus access prioritisation.

Data Integrity

The bus must have a high resistance to Electromagnetic Interference. Erroneous

messages must be detected and repeated. To ensure valid data across the sytem,

every bus node has to be informed about an error. Bus communication must not be

disturbed if one (or more) bus nodes malfunction. Faulty nodes must withdraw from

bus communication on their own. The bus must therefore have a linear structure with

equal bus nodes (multimaster concept).

Data Sharing

All control systems needing a common data item should be able to simultaneously

receive this data item from the bus (e.g. vehicle speed might be used by the engine

management system, active suspension ABS and gear control) The bus must

therefore have multicast capability.

AP29000

Connecting C166 and C500 Microcontroller to CAN

Introduction

Application Note 8 V 1.0, 2004-02

Several different serial bus systems have been developed for the use in motor

vehicles, each of them trying, as far as possible, to fulfill the above requirements.

Examples are ABUS from Volkswagen, VAN (Vehicle Area Network) developed by

Peugeot and Renault, the J1850 protocol from Chrysler, General Motors and Ford and,

of course, the Controller Area Network (CAN) from Robert Bosch GmbH in Germany.

These protocols mostly differ in transfer rate, signal coding, message format, error

detection, and error handling.

The CAN protocol was defined by Bosch in the mid-eighties. For some time Infineon

have also offered CAN devices such as the stand-alone Full-CAN controller

SAE 81C90/91 and the C167CR and the C515C microcontrollers (high-end 16-bit or 8-

bit microcontrollers respectively with an on-chip CAN module).

CAN has now clearly established a market leading position and indeed a number of

vehicle manufacturers have abandoned their proprietry protocols and have chosen the

CAN protocol. More than 15 Million CAN nodes are in use worldwide.

AP29000

Connecting C166 and C500 Microcontroller to CAN

The Controller Area Network (CAN)

Application Note 9 V 1.0, 2004-02

3The Controller Area Network (CAN)

3.1 CAN Basics

CAN is an asynchronous serial bus system with one logical bus line. It has an open,

linear bus structure with equal bus nodes. A CAN bus consists of two or more nodes.

The number of nodes on the bus may be changed dynamically without disturbing the

communication of other nodes. This allows easy connection and disconnection of bus

nodes (e.g. for addition of system function, error recovery or bus monitoring).

The bus logic corresponds to a "wired-AND" mechanism, "recessive" bits (mostly, but

not necessarily equivalent to the logic level "1") are overwritten by "dominant" bits

(logic level mostly "0"). As long as no bus node is sending a dominant bit, the bus line

is in the recessive state, but a dominant bit from any bus node generates the dominant

bus state. Therefore, for the CAN bus line, a medium must be chosen that is able to

transmit the two possible bit states (dominant and recessive). One of the most

common and cheapest ways is to use a twisted wire pair. The bus lines are then called

"CAN_H" and "CAN_L" and may be connected directly to the nodes or via a connector.

There's no standard defined by CAN regarding the connector to be used. The twisted

wire pair is terminated by terminating resistors at each end of the bus line. The

maximum bus speed is 1 MBaud, which can be achieved with a bus length of up to 40

m. For bus lengths longer than 40 m the bus speed must be reduced (a 1000 m bus

can be realised with a 40 KBaud bus speed). For a bus length above 1000 m special

drivers should be used. At least 30 nodes may be connected without additional

equipment. Due to the differential nature of transmission CAN is insensitive to EMI,

because both bus lines are affected in the same way which leaves the differential

signal unaffected. The bus lines can also be shielded to reduce the electromagnetic

emission of the bus itself, especially at high baudrates.

The binary data is coded corresponding to the NRZ code (Non-Return-to-Zero; low

level = dominant state; high level = recessive state). To ensure exact synchronization

of all bus nodes bit stuffing is used. This means that during the transmission of a

message a maximum of five consecutive bits may have the same polarity. Whenever

five consecutive bits of the same polarity have been transmitted the transmitter will

insert one additional bit of the opposite polarity into the bit stream before transmitting

further bits. The receiver also checks the number of bits with the same polarity and

removes the stuff bits from the bit stream (= destuffing).

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