
CAN PROTOCOL
Rev. 3
MOTOROLA
vii
TABLE OF CONTENTS
Paragraph
Number
Page
Number
TABLE OF CONTENTS
A.2.15
A.2.16
A.2.17
A.2.18
A.2.19
Transmit data segment registers (TDS) 1 – 8..................................................A-23
Receive buffer identifier register (RBI).............................................................A-23
Remote transmission request and data length code register (RRTDL)...........A-23
Receive data segment registers (RDS) 1 – 8 ..................................................A-23
Organization of buffers.....................................................................................A-25
B
TOUCAN
B.1
B.2
B.3
B.4
B.5
B.6
B.6.1
B.6.2
B.6.3
B.6.4
B.6.5
B.7
B.7.1
B.7.2
B.7.3
B.7.4
B.7.5
B.7.6
B.8
B.8.1
B.8.2
B.8.3
B.8.4
B.9
B.10
B.11
B.11.1
B.12
B.12.1
B.12.2
B.13
B.14
B.15
B.16
B.17
B.18
Introduction............................................................................................................B-1
TOUCAN module features.....................................................................................B-1
External Pins .........................................................................................................B-3
The CAN system ...................................................................................................B-3
Message buffer structure.......................................................................................B-4
Common fields to extended and standard format frames......................................B-5
CODE ..............................................................................................................B-5
LENGTH (receive mode) .................................................................................B-6
LENGTH (transmit mode)................................................................................B-6
DATA BYTE 0..7...............................................................................................B-6
RESERVED.....................................................................................................B-6
Fields for extended format frames.........................................................................B-7
TIME STAMP ...................................................................................................B-7
ID[28-18, 17-15]...............................................................................................B-7
SRR — Substitute remote request ..................................................................B-7
IDE — ID Extended .........................................................................................B-7
ID[14-0]............................................................................................................B-7
RTR — Remote transmission request.............................................................B-7
Fields for standard format frames..........................................................................B-8
TIME STAMP ...................................................................................................B-8
ID[28-18]..........................................................................................................B-8
RTR — Remote transmission request.............................................................B-8
RTR/SRR bit treatment....................................................................................B-8
Functional overview...............................................................................................B-8
Transmit process ...................................................................................................B-9
Receive process....................................................................................................B-10
Self-received frames........................................................................................B-11
Message buffer handling .......................................................................................B-11
Tx message buffer deactivation.......................................................................B-11
Rx message buffer deactivation.......................................................................B-11
Lock/release/BUSY mechanism and SMB usage .................................................B-12
Remote frames......................................................................................................B-12
Overload frames....................................................................................................B-13
Time stamp............................................................................................................B-13
Bit-timing configuration..........................................................................................B-14
Bit-timing operation notes......................................................................................B-14
F
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