ST72F521 datasheet(133/215 Pages) STMICROELECTRONICS

133 / 215 page

ST72F521, ST72521B

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CONTROLLER AREA NETWORK (Cont’d)

– RESYNC. The resynchronization mode is used

to find the correct entry point for starting trans-

mission or reception after the node has gone

asynchronous either by going into the STANDBY

or bus-off states.

Resynchronization is achieved when 128 se-

quences of 11 recessive bits have been moni-

tored unless the node is not bus-off and the

FSYN bit in the CSR register is set in which case

a single sequence of 11 recessive bits needs to

be monitored.

– IDLE. The CAN controller looks for one of the fol-

lowing events: the RUN bit is reset, a Start Of

Frame appears on the CAN bus or the DATA7

– TRANSMISSION. Once the LOCK bit of a Buffer

Control/Status Register (BCSRx) has been set

and read back as such, a transmit job can be

submitted by writing to the DATA7 register. The

message with the highest priority will be transmit-

ted as soon as the CAN bus becomes idle.

Among those messages with a pending trans-

mission request, the highest priority is given to

Buffer 3 then 2 and 1. If the transmission fails due

to a lost arbitration or to an error while the NRTX

bit of the CSR register is reset, then a new trans-

mission attempt is performed. This goes on until

the transmission ends successfully or until the

job is cancelled by unlocking the buffer, by set-

ting the NRTX bit or if the node ever enters bus-

off or if a higher priority message becomes pend-

ing. The RDY bit in the BCSRx register, which

was set since the job was submitted, gets reset.

When a transmission is in progress, the BUSY bit

in the BCSRx register is set. If it ends successful-

ly then the TXIF bit in the Interrupt Status Regis-

ter (ISR) is set, else the TEIF bit is set. An

interrupt is generated in either case provided the

TXIE and TEIE bits of the ICR register are set.

Note 1: Setting the SRTE bit of the CSR register

allows transmitted messages to be simultane-

ously received when they pass the acceptance

filtering. This is particularly useful for checking

the integrity of the communication path.

RECEPTION. Once the CAN controller has syn-

chronized itself onto the bus activity, it is ready

for reception of new messages. Every incoming

message gets its identifier compared to the ac-

ceptance filters. If the bitwise comparison of the

selected bits ends up with a match for at least

one of the filters then that message is elected for

reception and a target buffer is searched for. This

buffer will be the first one - order is 1 to 3 - that

has the LOCK and RDY bits of its BCSRx regis-

ter reset.

– When no such buffer exists then an overrun

interrupt is generated if the ORIE bit of the ICR

er of the last message is made available in the

Last Identifier Register (LIDHR and LIDLR) at

least until it gets overwritten by a new identifi-

er picked-up from the bus.

– When a buffer does exist, the accepted mes-

sage gets written into it, the ACC bit in the

BCSRx register gets the number of the match-

ing filter, the RDY and RXIF bits get set and an

interrupt is generated if the RXIE bit in the ISR

Up to three messages can be automatically

received without intervention from the CPU

because each buffer has its own set of status

bits, greatly reducing the reactiveness require-

ments in the processing of the receive inter-

rupts.

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