PIC18F26K80-I Datasheet, PDF (438/622 Pages) Microchip Technology – 28/40/44/64-Pin, Enhanced Flash Microcontrollers with ECAN™ and nanoWatt XLP Technology

PIC18F66K80 FAMILY
27.3 CAN Modes of Operation
The PIC18F66K80 family has six main modes of
operation:
• Configuration mode
• Disable/Sleep mode
• Normal Operation mode
• Listen Only mode
• Loopback mode
• Error Recognition mode
All modes, except Error Recognition, are requested by
setting the REQOP bits (CANCON<7:5>). Error Recog-
nition mode is requested through the RXM bits of the
Receive Buffer register(s). Entry into a mode is
Acknowledged by monitoring the OPMODE bits.
When changing modes, the mode will not actually
change until all pending message transmissions are
complete. Because of this, the user must verify that the
device has actually changed into the requested mode
before further operations are executed.
27.3.1 CONFIGURATION MODE
The CAN module has to be initialized before the
activation. This is only possible if the module is in the
Configuration mode. The Configuration mode is
requested by setting the REQOP2 bit. Only when the
status bit, OPMODE2, has a high level can the initial-
ization be performed. Afterwards, the Configuration
registers, the acceptance mask registers and the
acceptance filter registers can be written. The module
is activated by setting the REQOP control bits to zero.
The module will protect 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 CAN module will not be allowed to enter the
Configuration mode while a transmission or reception
is taking place. The Configuration mode serves as a
lock to protect the following registers:
• Configuration Registers
• Functional Mode Selection Registers
• Bit Timing Registers
• Identifier Acceptance Filter Registers
• Identifier Acceptance Mask Registers
• Filter and Mask Control Registers
• Mask Selection Registers
In the Configuration mode, the module will not transmit
or receive. The error counters are cleared and the inter-
rupt flags remain unchanged. The programmer will
have access to Configuration registers that are access
restricted in other modes. I/O pins will revert to normal
I/O functions.
27.3.2 DISABLE/SLEEP MODE
In Disable/Sleep mode, the module will not transmit or
receive. The module has the ability to set the WAKIF bit
due to bus activity; however, any pending interrupts will
remain and the error counters will retain their value.
If the REQOP<2:0> bits are set to ‘001’, the module will
enter the module Disable/Sleep mode. This mode is
similar to disabling other peripheral modules by turning
off the module enables. This causes the module
internal clock to stop unless the module is active (i.e.,
receiving or transmitting a message). If the module is
active, the module will wait for 11 recessive bits on the
CAN bus, detect that condition as an Idle bus, then
accept the module Disable/Sleep command.
OPMODE<2:0> = 001 indicates whether the module
successfully went into the module Disable/Sleep mode.
The WAKIF interrupt is the only module interrupt that is
still active in the Disable/Sleep mode. If the WAKDIS is
cleared and WAKIE is set, the processor will receive an
interrupt whenever the module detects recessive to
dominant transition. On wake-up, the module will auto-
matically be set to the previous mode of operation. For
example, if the module was switched from Normal to
Disable/Sleep mode on bus activity wake-up, the
module will automatically enter into Normal mode and
the first message that caused the module to wake-up is
lost. The module will not generate any error frame.
Firmware logic must detect this condition and make
sure that retransmission is requested. If the processor
receives a wake-up interrupt while it is sleeping, more
than one message may get lost. The actual number of
messages lost would depend on the processor
oscillator start-up time and incoming message bit rate.
The TXCAN pin will stay in the recessive state while the
module is in Disable/Sleep mode.
27.3.3 NORMAL MODE
This is the standard operating mode of the
PIC18F66K80 family devices. In this mode, the device
actively monitors all bus messages and generates
Acknowledge bits, error frames, etc. This is also the
only mode in which the PIC18F66K80 family devices
will transmit messages over the CAN bus.
DS39977F-page 438
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