Bosch Appliances TTCAN Ttcan Configuration, Ttcan Schedule Initialisation, Ttcan Message Handling

Page 5

TTCAN

User’s Manual

Revision 1.6

manual_about.fm

4.2.2. Configuration of the Message Memory

53

4.2.2.1. Configuration of a Transmit Object for Data Frames

54

4.2.2.2. Configuration of a Single Receive Object for Data Frames

54

4.2.2.3. Configuration of a FIFO Buffer

55

4.2.2.4. Configuration of a Single Receive Object for Remote Frames

55

4.3. CAN Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.3.1. Handling of Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 4.3.2. Updating a Transmit Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 4.3.3. Changing a Transmit Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.3.4. Reading Received Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.3.5. Requesting New Data for a Receive Object . . . . . . . . . . . . . . . . . . . . . . . . . 58 4.3.6. Reading from a FIFO Buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5. TTCAN Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.1. TTCAN Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.1.1. TTCAN Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.1.2. Message Scheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.1.3. Trigger Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.1.4. Message Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.1.4.1. Reference Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.1.4.2. Periodic Transmit Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.1.4.3. Event Driven Transmit Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.2. TTCAN Schedule Initialisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.2.1. Time Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.2.2. Potential Time Masters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.3. TTCAN Message Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.3.1. Message Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.3.2. Message Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.3.2.1. Periodic Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.3.2.2. Event Driven Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.4. TTCAN Gap Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.5. Stopwatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 5.6. Local Time, Cycle Time, and Global Time and External Clock Synchronisation 67 5.7. TTCAN Interrupt and Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 5.8. Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

6. CPU Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

6.1. Customer Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 6.2. Timing of the WAIT output signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.3. Interrupt Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

7. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

7.1. List of Figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

BOSCH

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11.11.02

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Contents Robert Bosch GmbH User’s ManualCopyright Notice and Proprietary Information Conventions Scope References Terms and Abbreviations Functional Overview 2.2. Block Diagram Operating ModesChange Control Can Application Ttcan Schedule Initialisation Ttcan ConfigurationTtcan Message Handling List of FiguresChange History Change Control Current StatusConventions Helvetica boldTerm Meaning Functional Overview Ttcan CpuifcCan Message Transfer Operating Modes Software InitialisationTest Register addresses 0x0B & 0x0A Disabled Automatic RetransmissionTest Mode Ttcan =1 Loop Back combined with Silent Mode Loop Back ModeSoftware control of Pin Cantx No Message RAM ModeAddress Name Reset Value Ttcan Register Summary Hardware Reset DescriptionDAR CCEEIE SIEStatus Register addresses 0x03 No ErrorBit Timing Register addresses 0x07 Error Counter addresses 0x05Status Interrupts BRP Extension Register addresses 0x0D & 0x0C Arb IFx Command Mask RegistersDirection = Write Direction = Read IFx Command Request RegistersControl ClrIntPndMessage Number BusyIFx Message Buffer Registers IFx Mask RegistersMessage Object in the Message Memory IFx Message Control RegistersIFx Data a and Data B Registers Msk28-0 ID28-0Xtd Dir26/77 11.11.02 Interrupt Register addresses 0x09 Message Handler RegistersInterrupt Pending Registers Transmission Request RegistersNew Data Registers Trigger Number 2 IF1 Data B1 and B2 Registers for Trigger Memory AccessMessage Valid 1 Register Type TT Operation Mode Register addresses 0x29TimeMark At CycleCount mod MPr2-0TEW EecsRdlc CCM TT Interrupt Enable Register addresses 0x31Bark AppWdLGTE CELGTW SWERTO TUR Numerator Configuration Low Register addresses 0x57 TT Error Level Register addresses 0x3F & 0x3ETT Cycle Count Register addresses 0x3D & 0x3C TT StopWatch Register addresses 0x61 TUR Denominator Configuration Register addresses 0x59TUR Numerator Actual Registers addresses 0x5B & 0x5A Qgtp QCSEcal EgtfDET TMCECS SWSTMG EPE40/77 11.11.02 Data Transfer Between IFx Registers and Message RAM Internal can Message HandlingStart Transmission of Messages in Event Driven can CommunicationReception of Data Frame Acceptance Filtering of Received MessagesReception of Remote Frame Storing Received Messages in Fifo BuffersConfiguration of the Module Receive / Transmit Priority1 Configuration of the Bit Timing Sync PropSeg PhaseSeg1 PhaseSeg2Bit Time and Bit Rate Canclk input Nominal can Bit TimeBRP Propagation Time SegmentPhase Buffer Segments and Synchronisation Synchronisation on late and early Edges Filtering of Short Dominant Spikes 1.5 Configuration of the can Protocol Controller Oscillator Tolerance RangeCalculation of the Bit Timing Parameters Example for Bit Timing at high Baudrate 2 Configuration of the Message Memory Example for Bit Timing at low Baudrate2.2 Configuration of a Single Receive Object for Data Frames 2.1 Configuration of a Transmit Object for Data Frames2.3 Configuration of a Fifo Buffer Handling of Interrupts Can CommunicationUpdating a Transmit Object Reading Received Messages Changing a Transmit ObjectRequesting New Data for a Receive Object Reading from a Fifo BufferCPU Handling of a Fifo Buffer Interrupt Driven Ttcan Timing Ttcan ConfigurationMessage Scheduling TUR510 125000 32.5 100/12 529/17 Trigger Memory 63/77 11.11.02 Periodic Transmit Message Message ObjectsReference Message Potential Time Masters Event Driven Transmit MessageTime Slaves Message Transmission Ttcan Message Handling Message ReceptionPeriodic Messages Event Driven MessagesStopwatch Ttcan Gap ControlCycle Time and Global Time Synchronisation Previous RefMark Ttcan Interrupt and Error HandlingConfiguration Example Rdlc & TEW & CCM Register RemarkType & Msg & CycleCode RTO , TM , L2 , TTMode3 74/77 11.11.02 Customer Interface GenericInterface Canclk Canwaitb Timing of the Wait output signalBusy = ‘1’ Busy = ‘0’ Interrupt TimingEOF
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