AT91SA的M7 - CAN.pptVIP

SAM7Controller Area Network  CAN Agenda What is CAN ? What is CAN ? Why CAN ? CAN Protocol ISO-OSI Reference Model ISO-OSI Reference Model (2) CAN Bus Logic Typical CAN Node CAN Bit Coding Bit Stuffing CAN Bus Access and Arbitration:CSMA/CD and AMP CAN Bus Synchronization CAN Bit Construction Relation between Baud Rate and Bus Length Frame Formats Frame Formats (2) Frame Formats (3) Frame Formats (4) Fault Confinement Error Detection Analysis CAN High Layer Protocols HLP Definition CANopen DeviceNet CAN Kingdom SAE J1939 X-by-wire systems Time-triggered protocols OSEK/VDX CAN Applications CAN: a Large Field of Applications AT91SAM7 CAN Embedded ControllersA1 - A2 - A3 - X CAN Controllers Types CAN Controllers Features CAN Controllers Features (2) AT91SAM7A3 – AT91SAM7XCAN Controller CAN on SAM7X-EK SAM7A3-EK Boards CAN Controller Structure CAN Initialization CAN Bit Timing Configuration CAN Bit Timing Configuration (2) Low Power Mode Time Management Unit Time Management Unit (2) Data, Remote, Error Overload Frames Handling Mailbox Organisation Message Acceptance Procedure Push / Pull Model Mailbox Object Type Mailbox Object Type (2) Mailbox Priority Transmit Mailbox Handling Receive Mailbox Handling Receive with Overwrite Mailbox Handling Chaining Receive Mailboxes Producer Mailbox Handling Consumer Mailbox Handling Multiple Transfer or Abort Requests In CSMA/CD all nodes that sense a collision on the bus must stop sending and wait a random time before trying to send again. Even the most important message will be interrupted using this protocol. In CSMA/AMP every message to be sent is assigned a priority. A node can only begin send a message if the bus is free. If a collision is detected after beginning sending the message, all but the node sending the highest prioritized message must stop sending. This means that the most important message never gets interrupted. At worst it must wait for a free bus. Start Of Frame (Standard and Extended Format)