Bosch TTCAN User Manual

User’s ManualBOSCHRevision 1.6TTCAN 11.11.02manual_about.fmRobert Bosch GmbHAutomotive ElectronicsSemiconductors and Integrated CircuitsDigital CMOS D

User’s ManualBOSCH- 10/77 -Revision 1.6TTCAN 11.11.02manual_about.fm2.3 Operating Modes 2.3.1 Software InitialisationThe software initialization is st

User’s ManualBOSCH- 11/77 -Revision 1.6TTCAN 11.11.02manual_about.fmset to not valid any time, even when their requested transmission is still pending

User’s ManualBOSCH- 12/77 -Revision 1.6TTCAN 11.11.02manual_about.fmLBack Loop Back ModeoneLoop Back Mode is enabled.zeroLoop Back Mode is disabled.Si

User’s ManualBOSCH- 13/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 2.3.4.4 Loop Back ModeThe CAN_Core can be set in Loop Back Mode by programming th

User’s ManualBOSCH- 14/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 2.3.4.6 Software control of Pin CAN_TXFour output functions are available for the

User’s ManualBOSCH- 15/77 -Revision 1.6TTCAN 11.11.02manual_about.fm3. Programmer’s ModelThe TTCAN module allocates an address space of 256 bytes. The

User’s ManualBOSCH- 16/77 -Revision 1.6TTCAN 11.11.02manual_about.fm Figure 5: TTCAN Register Summary3.1 Hardware Reset DescriptionAfter hardware rese

User’s ManualBOSCH- 17/77 -Revision 1.6TTCAN 11.11.02manual_about.fm3.2 CAN Protocol Related RegistersThese registers are related to the CAN protocol

User’s ManualBOSCH- 18/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.2.2 Status Register (addresses 0x03 & 0x02)BOff Bus_Off StatusoneThe CAN mo

User’s ManualBOSCH- 19/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe LEC field holds a code which indicates the type of the last error to occur on t

User’s ManualBOSCH- 2/77 -Revision 1.6TTCAN 11.11.02manual_about.fmCopyright Notice and Proprietary InformationCopyright © 1998, 1999, 2002 Robert Bos

User’s ManualBOSCH- 20/77 -Revision 1.6TTCAN 11.11.02manual_about.fmBRP Baud Rate Prescaler0x00-0x3FThe value by which the oscillator frequency is div

User’s ManualBOSCH- 21/77 -Revision 1.6TTCAN 11.11.02manual_about.fmsingle transfer. This transfer, performed in parallel on all selected parts of the

User’s ManualBOSCH- 22/77 -Revision 1.6TTCAN 11.11.02manual_about.fmClrIntPnd Clear Interrupt Pending BitNote :When writing to a Message Object, this

User’s ManualBOSCH- 23/77 -Revision 1.6TTCAN 11.11.02manual_about.fm6 CAN_CLK periods, the transfer between the Interface Register and the Message RAM

User’s ManualBOSCH- 24/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.3.3.3 IFx Message Control Registers 3.3.3.4 IFx Data A and Data B RegistersThe

User’s ManualBOSCH- 25/77 -Revision 1.6TTCAN 11.11.02manual_about.fmID28-0 Message IdentifierID28 - ID0 29-bit Identifier (“Extended Frame”).ID28 - ID18

User’s ManualBOSCH- 26/77 -Revision 1.6TTCAN 11.11.02manual_about.fmNewDat New DataoneThe Message Handler or the CPU has written new data into the dat

User’s ManualBOSCH- 27/77 -Revision 1.6TTCAN 11.11.02manual_about.fmData 0 1st data byte of a CAN Data FrameData 1 2nd data byte of a CAN Data FrameDa

User’s ManualBOSCH- 28/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.4.2 Transmission Request RegistersTxRqst32-1Transmission Request Bits (of all M

User’s ManualBOSCH- 29/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.4.5 Message Valid 1 RegisterMsgVal32-1Message Valid Bits (of all Message Object

User’s ManualBOSCH- 3/77 -Revision 1.6TTCAN 11.11.02manual_about.fmTTCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

User’s ManualBOSCH- 30/77 -Revision 1.6TTCAN 11.11.02manual_about.fmIn the Trigger Memory, the Triggers must be sorted according to their Time_Marks.

User’s ManualBOSCH- 31/77 -Revision 1.6TTCAN 11.11.02manual_about.fmEECS Enable External Clock SynchronisationoneTUR Configuration (NumCfg only) may be

User’s ManualBOSCH- 32/77 -Revision 1.6TTCAN 11.11.02manual_about.fmCCM Cycle_Count_Max (Number of last Basic Cycle in the Matrix Cycle)0x001 Basic Cy

User’s ManualBOSCH- 33/77 -Revision 1.6TTCAN 11.11.02manual_about.fmAny number of bits may be written to ‘0’ (cleared) at the same time. Bits that are

User’s ManualBOSCH- 34/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.5.9 TT Global Time Register (addresses 0x35 & 0x34)Global_Time Global Time

User’s ManualBOSCH- 35/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.5.13 TT Cycle Count Register (addresses 0x3D & 0x3C)C_Cnt5-0 Cycle_Count0x0

User’s ManualBOSCH- 36/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.5.16 TUR Denominator Configuration Register (addresses 0x59 & 0x58)DenomCfg[

User’s ManualBOSCH- 37/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.5.19 TT Global Time Preset Register (addresses 0x65 & 0x64)GTDiff Global Ti

User’s ManualBOSCH- 38/77 -Revision 1.6TTCAN 11.11.02manual_about.fmTMC Time Mark Compare0x0No Time Mark interrupt is generated.0x1Time Mark interrupt

User’s ManualBOSCH- 39/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 3.5.22 TT Time Mark Register (addresses 0x6D & 0x6C)TMark Time Mark0x0000-0xF

User’s ManualBOSCH- 4/77 -Revision 1.6TTCAN 11.11.02manual_about.fm3.4. Message Handler Registers . . . . . . . . . . . . . . . . . . . . . . . . . .

User’s ManualBOSCH- 40/77 -Revision 1.6TTCAN 11.11.02manual_about.fmbasic cycle will continue until its last time window. The time after the last time

User’s ManualBOSCH- 41/77 -Revision 1.6TTCAN 11.11.02manual_about.fm4. CAN ApplicationThe TTCAN module can emulate a C_CAN module in ordinary event dr

User’s ManualBOSCH- 42/77 -Revision 1.6TTCAN 11.11.02manual_about.fmWhen the CPU initiates a data transfer between the IFx Registers and Message RAM,

User’s ManualBOSCH- 43/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 4.1.3 Acceptance Filtering of Received MessagesWhen the arbitration and control fi

User’s ManualBOSCH- 44/77 -Revision 1.6TTCAN 11.11.02manual_about.fmReceived messages with identifiers matching to a FIFO Buffer are stored into a Mess

User’s ManualBOSCH- 45/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 4.2.1 Configuration of the Bit TimingEven if minor errors in the configuration of t

User’s ManualBOSCH- 46/77 -Revision 1.6TTCAN 11.11.02manual_about.fmA given bit rate may be met by different bit time configurations, but for the prope

User’s ManualBOSCH- 47/77 -Revision 1.6TTCAN 11.11.02manual_about.fmtransmits a recessive bit. The dominant bit transmitted by node B will arrive at n

User’s ManualBOSCH- 48/77 -Revision 1.6TTCAN 11.11.02manual_about.fmWhen the phase error of the edge which causes Resynchronisation is negative, Phase

User’s ManualBOSCH- 49/77 -Revision 1.6TTCAN 11.11.02manual_about.fmIn the first example an edge from recessive to dominant occurs at the end of Prop_S

User’s ManualBOSCH- 5/77 -Revision 1.6TTCAN 11.11.02manual_about.fm4.2.2. Configuration of the Message Memory . . . . . . . . . . . . . . . . . . . .

User’s ManualBOSCH- 50/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 4.2.1.4 Oscillator Tolerance RangeThe oscillator tolerance range was increased wh

User’s ManualBOSCH- 51/77 -Revision 1.6TTCAN 11.11.02manual_about.fmIn these bit timing registers, the four components TSEG1, TSEG2, SJW, and BRP have

User’s ManualBOSCH- 52/77 -Revision 1.6TTCAN 11.11.02manual_about.fmIf more than one configuration is possible, that configuration allowing the highest

User’s ManualBOSCH- 53/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 4.2.1.8 Example for Bit Timing at low BaudrateIn this example, the frequency of C

User’s ManualBOSCH- 54/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe CPU may poll all MessageObject’s NewDat and TxRqst bits in parallel, in the Ne

User’s ManualBOSCH- 55/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe Arbitration Registers (ID28-0 and Xtd bit) are given by the application. They

User’s ManualBOSCH- 56/77 -Revision 1.6TTCAN 11.11.02manual_about.fm‘0’), it is programmed to ID28 - ID18, ID17 - ID0 can then be disregarded. When a

User’s ManualBOSCH- 57/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe interrupt identifier IntId in the Interrupt Register indicates the cause of the

User’s ManualBOSCH- 58/77 -Revision 1.6TTCAN 11.11.02manual_about.fm 4.3.3 Changing a Transmit ObjectIn an application for that the number of Message

User’s ManualBOSCH- 59/77 -Revision 1.6TTCAN 11.11.02manual_about.fm Figure 17: CPU Handling of a FIFO Buffer (Interrupt Driven)Read Interrupt Pointer

User’s ManualBOSCH- 6/77 -Revision 1.6TTCAN 11.11.02manual_about.fm1. About this Document1.1 Change Control 1.1.1 Current StatusRevision 1.6 1.1.2 Cha

User’s ManualBOSCH- 60/77 -Revision 1.6TTCAN 11.11.02manual_about.fm5. TTCAN Application5.1 TTCAN ConfigurationThe TTCAN’s default operating mode after

User’s ManualBOSCH- 61/77 -Revision 1.6TTCAN 11.11.02manual_about.fm Figure 18: TUR configuration examplesThe TTCAN module provides a watchdog to verit

User’s ManualBOSCH- 62/77 -Revision 1.6TTCAN 11.11.02manual_about.fmoperates according to ISO 11898-4, but without the possibility to synchronise the

User’s ManualBOSCH- 63/77 -Revision 1.6TTCAN 11.11.02manual_about.fmfor Arbitrating Time Windows, Tx_Trigger_Merged may be used only for Merged Arbitr

User’s ManualBOSCH- 64/77 -Revision 1.6TTCAN 11.11.02manual_about.fmA typical Trigger List for a potential Time Master will begin with a number of Tx_

User’s ManualBOSCH- 65/77 -Revision 1.6TTCAN 11.11.02manual_about.fmTxRqst and RmtEn may never be set for a periodic transmit message. To enable thetr

User’s ManualBOSCH- 66/77 -Revision 1.6TTCAN 11.11.02manual_about.fmreset or configuration, giving no acknowledge). When it reaches Initial_Watch_Trigg

User’s ManualBOSCH- 67/77 -Revision 1.6TTCAN 11.11.02manual_about.fmWindow, the retransmission may happen inside the same Window. The retransmission w

User’s ManualBOSCH- 68/77 -Revision 1.6TTCAN 11.11.02manual_about.fm(the “Micro Tick”) is incremented eight times each NTU, or, when TUR becomes <8

User’s ManualBOSCH- 69/77 -Revision 1.6TTCAN 11.11.02manual_about.fm Figure 20: TTCAN Level 2 Drift CompensationFigure 20 describes how in TTCAN Level

User’s ManualBOSCH- 7/77 -Revision 1.6TTCAN 11.11.02manual_about.fm1.5 Terms and AbbreviationsThis document uses the following terms and abbreviations

User’s ManualBOSCH- 70/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe TT Interrupt Vector consists of four segments, each four bits long. Each of th

User’s ManualBOSCH- 71/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe general configuration of the three nodes is identical, there are differences in

User’s ManualBOSCH- 72/77 -Revision 1.6TTCAN 11.11.02manual_about.fm37 1C IF1 Message Control EoB, DLC=8 (for arb. message) 008838 10 IF1 Command Requ

User’s ManualBOSCH- 73/77 -Revision 1.6TTCAN 11.11.02manual_about.fmIn the Message RAM, the first Message Object is reserved for the Reference Message.

User’s ManualBOSCH- 74/77 -Revision 1.6TTCAN 11.11.02manual_about.fmThe transmit message objects 5…6, to be transmitted in the arbitrating time window

User’s ManualBOSCH- 75/77 -Revision 1.6TTCAN 11.11.02manual_about.fm6. CPU InterfaceThe interface of the TTCAN module consist of two parts (see figure

User’s ManualBOSCH- 76/77 -Revision 1.6TTCAN 11.11.02manual_about.fm6.2 Timing of the WAIT output signalIf the Customer Interfaces is implemented with

User’s ManualBOSCH- 77/77 -Revision 1.6TTCAN 11.11.02manual_about.fm7. Appendix7.1 List of Figures Figure 1: Block Diagram of the TTCAN . . . . . . .

User’s ManualBOSCH- 8/77 -Revision 1.6TTCAN 11.11.02manual_about.fm2. Functional Description2.1 Functional OverviewThe TTCAN is a CAN IP module that c

User’s ManualBOSCH- 9/77 -Revision 1.6TTCAN 11.11.02manual_about.fm2.2 Block Diagram Figure 1: Block Diagram of the TTCANCAN_CoreCAN Protocol Controll