DSPIC30F datasheet(109/220 Pages) MICROCHIP

109 / 220 page

 2004 Microchip Technology Inc.

Preliminary

DS70116C-page 107

dsPIC30F5011/5013

17.3

Modes of Operation

The CAN module can operate in one of several Operation

modes selected by the user. These modes include:

• Initialization Mode

• Disable Mode

• Normal Operation Mode

• Listen Only Mode

• Loopback Mode

• Error Recognition Mode

Modes are requested by setting the REQOP<2:0> bits

(CiCTRL<10:8>), except the Error Recognition mode

which is requested through the RXM<1:0> bits

(CiRXnCON<6:5>, where n = 0 or 1 represents a par-

ticular receive buffer). Entry into a mode is Acknowl-

edged

monitoring

the

OPMODE<2:0>

bits

(CiCTRL<7:5>). The module will not change the mode

and the OPMODE bits until a change in mode is

acceptable, generally during bus Idle time which is

defined as at least 11 consecutive recessive bits.

17.3.1

INITIALIZATION MODE

In the Initialization mode, the module will not transmit or

receive. The error counters are cleared and the inter-

rupt flags remain unchanged. The programmer will

have access to configuration registers that are access

restricted in other modes. The module will protect the

user from accidentally violating the CAN protocol

through programming errors. All registers which control

the configuration of the module can not be modified

while the module is on-line. The CAN module will not

be allowed to enter the Configuration mode while a

transmission is taking place. The Configuration mode

serves as a lock to protect the following registers.

• All Module Control Registers

• Baud Rate and Interrupt Configuration Registers

• Bus Timing Registers

• Identifier Acceptance Filter Registers

• Identifier Acceptance Mask Registers

17.3.2

DISABLE MODE

In Disable mode, the module will not transmit or

receive. The module has the ability to set the WAKIF bit

due to bus activity, however, any pending interrupts will

remain and the error counters will retain their value.

If the REQOP<2:0> bits (CiCTRL<10:8>) = 001, the

module will enter the Module Disable mode. If the module

is active, the module will wait for 11 recessive bits on the

CAN bus, detect that condition as an Idle bus, then

accept the module disable command. When the

OPMODE<2:0> bits (CiCTRL<7:5>) = 001, that indi-

cates whether the module successfully went into Module

Disable mode. The I/O pins will revert to normal I/O

function when the module is in the Module Disable mode.

The module can be programmed to apply a low-pass

filter function to the CiRX input line while the module or

the CPU is in Sleep mode. The WAKFIL bit

(CiCFG2<14>) enables or disables the filter.

17.3.3

NORMAL OPERATION MODE

Normal

Operating

mode

selected

when

REQOP<2:0> = 000. In this mode, the module is acti-

vated and the I/O pins will assume the CAN bus func-

tions. The module will transmit and receive CAN bus

messages via the CxTX and CxRX pins.

17.3.4

LISTEN ONLY MODE

If the Listen Only mode is activated, the module on the

CAN bus is passive. The transmitter buffers revert to

the port I/O function. The receive pins remain inputs.

For the receiver, no error flags or Acknowledge signals

are sent. The error counters are deactivated in this

state. The Listen Only mode can be used for detecting

the baud rate on the CAN bus. To use this, it is neces-

sary that there are at least two further nodes that

communicate with each other.

17.3.5

LISTEN ALL MESSAGES MODE

The module can be set to ignore all errors and receive

any message. The Listen All Messages mode is acti-

vated by setting the REQOP<2:0> bits to ‘111’. In this

mode, the data which is in the message assembly

buffer until the time an error occurred, is copied in the

receive buffer and can be read via the CPU interface.

17.3.6

LOOPBACK MODE

If the Loopback mode is activated, the module will con-

nect the internal transmit signal to the internal receive

signal at the module boundary. The transmit and

receive pins revert to their port I/O function.

Note:

Typically, if the CAN module is allowed to

transmit in a particular mode of operation

and a transmission is requested immedi-

ately after the CAN module has been

placed in that mode of operation, the mod-

ule waits for 11 consecutive recessive bits

on the bus before starting transmission. If

the user switches to Disable Mode within

this 11-bit period, then this transmission is

aborted and the corresponding TXABT bit

is set and TXREQ bit is cleared.

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