70291E Datasheet, PDF (249/436 Pages) Microchip Technology – High-Performance, 16-bit Digital Signal Controllers

dsPIC33FJ32MC302/304, dsPIC33FJ64MCX02/X04 AND dsPIC33FJ128MCX02/X04
21.3 Modes of Operation
The ECAN 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
• Listen All Messages mode
• Loopback mode
Modes are requested by setting the REQOP<2:0> bits
(CiCTRL1<10:8>). Entry into a mode is Acknowledged
by monitoring the OPMODE<2:0> bits
(CiCTRL1<7:5>). The module does 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.
21.3.1 INITIALIZATION MODE
In the Initialization mode, the module does not transmit
or receive. The error counters are cleared and the
interrupt flags remain unchanged. The user application
has access to Configuration registers that are access
restricted in other modes. The module protects 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 ECAN module is not 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
21.3.2 DISABLE MODE
In Disable mode, the module does not transmit or
receive. The module has the ability to set the WAKIF bit
due to bus activity, however, any pending interrupts
remains and the error counters retains their value.
If the REQOP<2:0> bits (CiCTRL1<10:8>) = 001, the
module enters the Module Disable mode. If the module is
active, the module waits 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 (CiCTRL1<7:5>) = 001, that indicates whether the
module successfully went into Module Disable mode.
The I/O pins reverts 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.
Note:
Typically, if the ECAN module is allowed to
transmit in a particular mode of operation
and a transmission is requested immedi-
ately after the ECAN 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.
21.3.3 NORMAL OPERATION MODE
Normal Operation mode is selected when
REQOP<2:0> = 000. In this mode, the module is
activated and the I/O pins assumes the CAN bus
functions. The module transmits and receive CAN bus
messages via the CiTX and CiRX pins.
21.3.4 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.
21.3.5 LISTEN ALL MESSAGES MODE
The module can be set to ignore all errors and receive
any message. The Listen All Messages mode is
activated by setting REQOP<2:0> = ‘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.
21.3.6 LOOPBACK MODE
If the Loopback mode is activated, the module
connects 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.
© 2011 Microchip Technology Inc.
DS70291E-page 249