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Bosch Appliances TTCAN manuel d'utilisation

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Table des matières du manuel d’utilisation

  • Page 1

    User’ s Manual BOSCH Re vision 1.6 TTCAN 11.11.02 manual_about.fm Robert Bosch GmbH A utomotiv e Electronics Semiconductors and Integrated Circuits Digital CMOS Design Group TTCAN IP Module User’ s Manual Re vision 1.6 11.11.02[...]

  • Page 2

    User’ s Manual BOSCH - 2/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Copyright Notice and Proprietary Information Copyright © 1998, 1999, 2002 Robert Bosch GmbH. All rights reserved. This software and manual are owned by Robert Bosch GmbH, and may be used only as authorized in the license agreement controlling such use. No part of this pub[...]

  • Page 3

    User’ s Manual BOSCH - 3/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm TTCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1. About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.1. Change Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

  • Page 4

    User’ s Manual BOSCH - 4/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.4. Message Handler Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.4.1. Interrupt Register (addresses 0x09 & 0x08) . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.4.2. Transmission Request Registers . . . . . [...]

  • Page 5

    User’ s Manual BOSCH - 5/77 - Re vision 1.6 TTCAN 11.11.02 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 . . [...]

  • Page 6

    User’ s Manual BOSCH - 6/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 1. About this Document 1.1 Change Control 1.1.1 Current Status Re vision 1.6 1.1.2 Change History Issue Date By Change Draft 0.0 30.06.00 F . Har twich First Draft Re vision 0.1 12.01.01 F . Har twich Gap Control Re vision 0.2 21.10.00 F . Har twich T rigger Memor y Re vis[...]

  • Page 7

    User’ s Manual BOSCH - 7/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 1.5 T erms and Abbreviations This document uses the f ollowing terms and abbre viations. T erm Meaning CAN Controller Area Network BSP Bit Stream Processor BTL Bit Timing Logic CRC Cyclic Redundancy Check Register DLC Data Length Code EML Error Management Logic FSE F rame [...]

  • Page 8

    User’ s Manual BOSCH - 8/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2. Functional Description 2.1 Functional Overview The TTCAN is a CAN IP module that can be integrated as stand-alone de vice or as par t of an ASIC . It is described in VHDL on RTL le vel, prepared f or synthesis . It consists of the components (see figure 1) CAN_Core, Me[...]

  • Page 9

    User’ s Manual BOSCH - 9/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.2 Block Dia gram Figure 1: Block Diagr am of the TTCAN CAN_Core CAN Protocol Controller and Rx/Tx Shift Register , handles all ISO 11898-1 protocol functions. Message Handler State Machine that controls the data transf er between the single por ted Message RAM, the CAN_C[...]

  • Page 10

    User’ s Manual BOSCH - 10/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.3 Operating Modes 2.3.1 Software Initialisation The software initialization is star ted b y setting the bit Init in the CAN Control Register , either by softw are or b y a hardware reset, or b y going Bus_Off . While Init is set, all message transf er from and to the CA[...]

  • Page 11

    User’ s Manual BOSCH - 11/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm set to not v alid any time , e v en when their requested transmission is still pending. The old data will be discarded when a message is updated bef ore its pending transmission has star ted. Depending on the configuration of the Message Object, the transmission of a mes[...]

  • Page 12

    User’ s Manual BOSCH - 12/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm LBack Loop Bac k Mode one Loop Back Mode is enab led. zero Loop Back Mode is disab led. Silent Silent Mode one The module is in Silent Mode zero Nor mal oper ation. NoRAM No Message RAM Mode one IF1 Registers used as Tx Buff er , IF2 Registers used as Rx Buff er . zero No[...]

  • Page 13

    User’ s Manual BOSCH - 13/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.3.4.4 Loop Back Mode The CAN_Core can be set in Loop Bac k Mode by prog ramming the T est Register bit LBac k to one . In Loop Back Mode , the CAN_Core treats its own transmitted messages as receiv ed messages and stores them (if the y pass acceptance filter ing) into [...]

  • Page 14

    User’ s Manual BOSCH - 14/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.3.4.6 Software control of Pin CAN_TX F our output functions are av ailable f or the CAN transmit pin CAN_TX . Additionally to its def ault function – the serial data output – it can dr iv e the CAN Sample P oint signal to monitor the CAN_Core’ s bit timing and it [...]

  • Page 15

    User’ s Manual BOSCH - 15/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3. Pr ogrammer’ s Model The TTCAN module allocates an address space of 256 bytes . The registers are organized as 16-bit registers, with the high b yte at the odd address and the lo w byte at the e ven address . The two sets of interf ace registers (IF1 and IF2) control[...]

  • Page 16

    User’ s Manual BOSCH - 16/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 5: TTCAN Register Summar y 3.1 Hard ware Reset Description After hardware reset, the registers of the TTCAN hold the v alues descr ibed in figure 5. Additionally the Bus_Off state is reset and the output CAN_TX is set to recessiv e (HIGH). The v alue 0x0001 ( Init[...]

  • Page 17

    User’ s Manual BOSCH - 17/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.2 CAN Protocol Related Register s These registers are related to the CAN protocol controller in the CAN Core. The y control the operating modes and the configuration of the CAN bit timing and pro vide status inf ormation. 3.2.1 CAN Control Register (ad dresses 0x01 &am[...]

  • Page 18

    User’ s Manual BOSCH - 18/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.2.2 Status Register (addresses 0x03 & 0x02) BOff Bus_Off Status one The CAN module is in Bus_Off state. zero The CAN module is not Bus_Off . EW arn Warning Status one At least one of the error counters in the EML has reached the error warning limit of 96. zero Both [...]

  • Page 19

    User’ s Manual BOSCH - 19/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The LEC field holds a code which indicates the type of the last error to occur on the CAN bus . This field will be cleared to ‘0’ when a message has been transf erred (reception or transmis- sion) without error . The unused code ‘7’ ma y be written by the CPU to[...]

  • Page 20

    User’ s Manual BOSCH - 20/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm BRP Baud Rate Prescaler 0x00-0x3F The v alue by which the oscillator frequency is divided f or gener- ating the bit time quanta. The bit time is built up from a m ultiple of this quanta. V alid v alues f or the Baud Rate Prescaler are [ 0 … 63 ]. The actual inter pretat[...]

  • Page 21

    User’ s Manual BOSCH - 21/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm single transf er . This transf er , perf or med in par allel on all selected par ts of the Message Object, guarantees the data consistency of the CAN message . Figure 6 shows the structure of the two Interf ace Register sets. The function of the two Interf ace Register se[...]

  • Page 22

    User’ s Manual BOSCH - 22/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm ClrIntPnd Clear Interrupt P ending Bit Note : When writing to a Message Object, this bit is ignored. TxRqst/NewDat Access T ransmission Request Bit one set TxRqst bit zero TxRqst bit unchanged Note : If a transmission is requested b y setting TxRqst/NewDat in the IFx Comm[...]

  • Page 23

    User’ s Manual BOSCH - 23/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 6 CAN_CLK periods, the transf er between the Interface Register and the Message RAM has completed and the Busy bit is cleared to ‘0’. The upper limit of the wait time occurs when the message transf er coincides with a CAN message transmission, acceptance filtering, o[...]

  • Page 24

    User’ s Manual BOSCH - 24/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.3.3.3 IFx Message Control Register s 3.3.3.4 IFx Data A and Data B Registers The data bytes of CAN messages are stored in the IFx registers in the f ollowing order : In a CAN Data F rame, Data(0) is the first, Data(7) is the last b yte to be transmitted or receiv ed. I[...]

  • Page 25

    User’ s Manual BOSCH - 25/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm ID28-0 Message Identifier ID28 - ID0 29-bit Identifier (“Extended F rame”). ID28 - ID18 11-bit Identifier (“Standard F rame”). Msk28-0 Identifier Mask one The corresponding identifier bit is used f or acceptance filtering. zero The corresponding bit in the i[...]

  • Page 26

    User’ s Manual BOSCH - 26/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm NewDat Ne w Data one The Message Handler or the CPU has written new data into the data por- tion of this Message Object. zero No new data has been written into the data por tion of this Message Object by the Message Handler since last time this flag w as cleared b y the [...]

  • Page 27

    User’ s Manual BOSCH - 27/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Data 0 1st data byte of a CAN Data F rame Data 1 2nd data byte of a CAN Data F rame Data 2 3rd data byte of a CAN Data F rame Data 3 4th data byte of a CAN Data F rame Data 4 5th data byte of a CAN Data F rame Data 5 6th data byte of a CAN Data F rame Data 6 7th data byte[...]

  • Page 28

    User’ s Manual BOSCH - 28/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.4.2 T ransmission Request Registers TxRqst32-1 T ransmission Request Bits (of all Message Objects) one The transmission of this Message Object is requested and is not y et done. zero This Message Object is not waiting f or transmission. These registers hold the TxRqst b[...]

  • Page 29

    User’ s Manual BOSCH - 29/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.4.5 Message V alid 1 Register MsgV al32-1 Message V alid Bits (of all Message Objects) one This Message Object is configured and should be considered by the Mes- sage Handler . zero This Message Object is ignored by the Message Handler . These registers hold the MsgV a[...]

  • Page 30

    User’ s Manual BOSCH - 30/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In the T rigger Memor y , the T riggers must be sor ted according to their Time_Mar ks . There ma y not be two T riggers that are active at the same Cycle Time and Cycle_Count. F or details see chapter 5.1.3. T ype T rigger T ype 0 Tx_Ref_T rigger v alid when not in Gap 1[...]

  • Page 31

    User’ s Manual BOSCH - 31/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm EECS Enable External Clock Synchronisation one TUR Configuration ( NumCfg only) ma y be updated during TTCAN operation. zero TUR Configuration ma y not be updated. TTMode TTCAN Operation Mode 0x0 TTMode_0 Ev ent driven CAN Communication (def ault mode). 0x1 TTMode_1 Con[...]

  • Page 32

    User’ s Manual BOSCH - 32/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm CCM Cycle_Count_Max (Number of last Basic Cycle in the Matrix Cycle) 0x00 1 Basic Cycle in the Matrix Cycle. 0x01 2 Basic Cycles in the Matrix Cycle. 0x03 4 Basic Cycles in the Matrix Cycle. 0x07 8 Basic Cycles in the Matrix Cycle. 0x0F 16 Basic Cycles in the Matrix Cycle[...]

  • Page 33

    User’ s Manual BOSCH - 33/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Any n umber of bits ma y be written to ‘0’ (cleared) at the same time. Bits that are written to ‘1’ remain unchanged. CfE Config Error Set when an error is f ound in the T rigger List. ApW Application W atchdog Set when the application watchdog w as not ser v ed [...]

  • Page 34

    User’ s Manual BOSCH - 34/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.9 TT Global Time Register (addresses 0x35 & 0x34) Global_Time Global Time of the TTCAN network 0x0000-0xFFFF Actual Global Time v alue. 3.5.10 TT Cycle Time Register (ad dresses 0x37 & 0x36) Cycle_Time Cycle Time of the TTCAN basic cycle 0x0000-0xFFFF Actual C[...]

  • Page 35

    User’ s Manual BOSCH - 35/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.13 TT Cycle Count Register (ad dresses 0x3D & 0x3C) C_Cnt5-0 Cycle_Count 0x00-0x3F The number of the actual Basic Cycle in the System Matrix. 3.5.14 TT Error Le vel Register (addresses 0x3F & 0x3E) MSCmax Maximum Message Status Count 0x0-0x7 The highest Messag[...]

  • Page 36

    User’ s Manual BOSCH - 36/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.16 TUR Denominator Configuration Register (addresses 0x59 & 0x58) DenomCfg[13 … 0] TUR Denominator Configuration 0x0000 Illegal v alue. 0x0001-0x3FFF DenomCfg [13 … 0]. The length of the NTU is giv en by ( NumCfg • System Cloc k P er iod) = ( DenomCfg • [...]

  • Page 37

    User’ s Manual BOSCH - 37/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.19 TT Global Time Preset Register (addresses 0x65 & 0x64) GTDiff Global Time Preset 0x0000-0x7FFF Master_Ref_Mark = Master_Ref_Mar k + GTDiff . 0x8000 reser v ed. 0x8001-0xFFFF Master_Ref_Mar k = Master_Ref_Mark - (0x10000 - GTDiff ). The Global Time Preset takes [...]

  • Page 38

    User’ s Manual BOSCH - 38/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm TMC Time Mark Compare 0x0 No Time Mark interr upt is generated. 0x1 Time Mark interr upt if (Time Mark = Cycle Time). 0x2 Time Mark interr upt if (Time Mark = Local Time). 0x3 Time Mark interr upt if (Time Mark = Global Time). DET Disable External Time Mark P or t one The[...]

  • Page 39

    User’ s Manual BOSCH - 39/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.22 TT Time Mark Register (addresses 0x6D & 0x6C) TMark Time Mark 0x0000-0xFFFF An interrupt is generated when the time base indicated by TMC (Cycle Time, Local Time , or Global Time) has the same v alue as Time Mark. Note : The Time Mark register can only be wr it[...]

  • Page 40

    User’ s Manual BOSCH - 40/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm basic cycle will continue until its last time windo w . The time after the last time window is the Gap time. In nodes that are time slav es, the Gap bit will remain at ‘0’. In the actual time master and in potential time masters, the Gap bit will be set when the last [...]

  • Page 41

    User’ s Manual BOSCH - 41/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4. CAN Application The TTCAN module can emulate a C_CAN module in ordinary ev ent driven ISO 11898-1 CAN communication. C_CAN softw are can also be used f or the TTCAN, provided that the TTCAN’ s application watchdog is disab led in the configuration phase , as describ[...]

  • Page 42

    User’ s Manual BOSCH - 42/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm When the CPU initiates a data transf er between the IFx Registers and Message RAM, the Message Handler sets the Busy bit in the respectiv e Command Request Register to ‘1’. After the transf er has completed, the Busy bit is set back to ‘0’ (see figure 8). If the [...]

  • Page 43

    User’ s Manual BOSCH - 43/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.1.3 Acceptance Filtering of Received Messages When the arbitration and control field (Identifier + IDE + R TR + DLC) of an incoming message is completely shifted into the shift register of the CAN_Core, the Message Handler FSM star ts the scanning of the Message RAM f[...]

  • Page 44

    User’ s Manual BOSCH - 44/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Receiv ed messages with identifiers matching to a FIFO Buff er are stored into a Message Object of this FIFO Buff er , star ting with the Message Object with the lowest message number . When a message is stored into a Message Object of a FIFO Buff er the Ne wDat bit of t[...]

  • Page 45

    User’ s Manual BOSCH - 45/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.1 Configuration of the Bit Timing Ev en if minor errors in the configuration of the CAN bit timing do not result in immediate f ailure, the perf or mance of a CAN network can be reduced significantly . In many cases , the CAN bit synchronisation will amend a f ault[...]

  • Page 46

    User’ s Manual BOSCH - 46/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm A giv en bit rate ma y be met b y diff erent bit time configurations , but f or the proper function of the CAN network the ph ysical dela y times and the oscillator’ s tolerance range ha ve to be considered. 4.2.1.2 Propa gation Time Segment This par t of the bit time [...]

  • Page 47

    User’ s Manual BOSCH - 47/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm transmits a recessiv e bit. The dominant bit transmitted b y node B will arrive at node A after the dela y(B_to_A). Due to oscillator tolerances , the actual position of node A’ s Sample P oint can be anywhere inside the nominal range of node A’ s Phase Buff er Segmen[...]

  • Page 48

    User’ s Manual BOSCH - 48/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm When the phase error of the edge which causes Resynchronisation is negativ e, Phase_Seg2 is shor tened. If the magnitude of the phase error is less than SJW , Phase_Seg2 is shor tened by the magnitude of the phase error , else it is shor tened b y SJW . When the magnitude[...]

  • Page 49

    User’ s Manual BOSCH - 49/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In the first e xample an edge from recessiv e to dominant occurs at the end of Prop_Seg. The edge is “ late ” since it occurs after the Sync_Seg. Reacting to the “ late ” edge, Phase_Seg1 is lengthened so that the distance from the edge to the Sample P oint is th[...]

  • Page 50

    User’ s Manual BOSCH - 50/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.1.4 Oscillator T olerance Rang e The oscillator tolerance range w as increased when the CAN protocol was de veloped from v ersion 1.1 to version 1.2 (v ersion 1.0 was ne v er implemented in silicon). The option to synchronise on edges from dominant to recessiv e becam[...]

  • Page 51

    User’ s Manual BOSCH - 51/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In these bit timing registers, the f our components TSEG1, TSEG2, SJW , and BRP ha v e to be programmed to a n umerical value that is one less than its functional v alue; so instead of v alues in the range of [1 … n], v alues in the range of [0 … n-1] are progr ammed.[...]

  • Page 52

    User’ s Manual BOSCH - 52/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm If more than one configuration is possib le, that configur ation allowing the highest oscillator tolerance r ange should be chosen. CAN nodes with diff erent system clocks require diff erent configurations to come to the same bit rate . The calculation of the propagati[...]

  • Page 53

    User’ s Manual BOSCH - 53/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.1.8 Example f or Bit Timing at low Baudrate In this e xample, the frequency of CAN_CLK is 2 MHz, BRP is 1, the bit rate is 100 KBit/s. t q 1 µ s= 2 • t CAN_CLK delay of bus driver 200 ns delay of receiver circuit 80 ns delay of bus line (40m) 220 ns t Prop 1 µ s= [...]

  • Page 54

    User’ s Manual BOSCH - 54/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The CPU ma y poll all Message Object’ s NewDat and TxRqst bits in par allel, in the New Data x Registers and in the T ransmission Request x Registers. P olling is made easier if all T ransmit Objects are grouped at the lo w numbers, all Receiv e Objects are grouped at t[...]

  • Page 55

    User’ s Manual BOSCH - 55/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The Arbitration Registers ( ID28-0 and Xtd bit) are giv en b y the application. They define the identifier and type of accepted receiv ed messages. If an 11-bit Identifier (“Standard F rame”) is used ( Xtd = ‘0’), it is programmed to ID28 - ID18 , ID17 - ID0 ca[...]

  • Page 56

    User’ s Manual BOSCH - 56/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm ‘0’), it is programmed to ID28 - ID18 , ID17 - ID0 can then be disregarded. When a Remote F rame with an 11-bit Identifier is received, ID17 - ID0 will be set to ‘0’. The Data Length Code ( DLC3-0 ) ma y be giv en by the application. When the Message Handler stor[...]

  • Page 57

    User’ s Manual BOSCH - 57/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The interrupt identifier IntId in the Interr upt Register indicates the cause of the interrupt. When no interrupt is pending, the register will hold the value zero . If the v alue of the Interrupt Register is diff erent from zero , then there is an interrupt pending and,[...]

  • Page 58

    User’ s Manual BOSCH - 58/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.3.3 Changing a T ransmit Object In an application f or that the number of Message Objects in the TTCAN module is not sufficient, the T ransmit Objects ma y be managed dynamically . The CPU wr ites the whole message (Arbitration, Control, and Data) into the Interf ace R[...]

  • Page 59

    User’ s Manual BOSCH - 59/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 17: CPU Handling of a FIFO Buff er (Interr upt Driv en) Read Interrupt Pointer START case Interrupt Pointer 0x8000h else 0x0000h Status Change END IFx Command Mask = 0x007F Write MessageNum to IFx Command Request (Transfer Message to IFx Registers, Clear NewDat and[...]

  • Page 60

    User’ s Manual BOSCH - 60/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 5. TTCAN Application 5.1 TTCAN Configuration The TTCAN’ s default oper ating mode after hardware reset is Standard CAN Comm unication without time triggers. The TTMode has to be s witched into Configuration Mode bef ore the timing and system matrix setup can be wr itt[...]

  • Page 61

    User’ s Manual BOSCH - 61/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 18: TUR configuration e xamples The TTCAN module provides a w atchdog to v erity the function of the application program. The host has to ser v e this watchdog regularly , else all CAN bus activity is stopped. The Application W atchdog Limit AppWdL (range 0x00 to [...]

  • Page 62

    User’ s Manual BOSCH - 62/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm operates according to ISO 11898-4, b ut without the possibility to synchronise the Basic Cycles to e xter nal e vents , the Next_is_Gap bit in the Ref erence Message is ignored. In the TTMode “Ev ent Synchronised Time T riggered Operation”, the TTCAN module operates a[...]

  • Page 63

    User’ s Manual BOSCH - 63/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm f or Arbitrating Time Windo ws, Tx_T r igger_Merged ma y be used only f or Merged Arbitrating Time Windows . The last Tx_T rigger of a Merged Arbitrating Time Window must be of the type Tx_T rigger_Single. A Configuration Error (Error le v el 3) is detected when a T rigg[...]

  • Page 64

    User’ s Manual BOSCH - 64/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm A typical T rigger List for a potential Time Master will begin with a n umber of Tx_T riggers and Rx_T riggers follo wed b y the Tx_Ref_T rigger and the W atch_T rigger . F or networks with Ev ent Synchronised Time triggered Communication, this is f ollowed b y the Tx_Ref[...]

  • Page 65

    User’ s Manual BOSCH - 65/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm TxRqst and RmtEn ma y ne v er be set f or a periodic transmit message. T o enab le the transmission of a periodic message inside an Exclusive Time Windo w , TxRqst has to be set to ‘0’ and NewDat has to be set to ‘1’. The message will be tr ansmitted each time its[...]

  • Page 66

    User’ s Manual BOSCH - 66/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm reset or configuration, giving no ac knowledge). When it reaches Initial_W atch_T rigger (not par t of the T rigger List, defined as maximum of Cycle Time), the attempted transmission is abor ted, IWT in the Interrupt V ector register is set, the FSE is frozen, and the [...]

  • Page 67

    User’ s Manual BOSCH - 67/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Window , the retr ansmission ma y happen inside the same Window . The retransmission will not be star ted if NewDat is reset b y the application program. When a Message Object f or e v ent dr iv en messages is managed dynamically , the contents of a Message Object ma y be[...]

  • Page 68

    User’ s Manual BOSCH - 68/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm (the “Micro Tick”) is incremented eight times each NTU , or , when TUR becomes < 8 by drift compensation or by configur ation f or TTCAN Le v el 1, it is incremented four times each NTU . Figure 19 describes the synchronisation of the Cycle Time and Global Time, p[...]

  • Page 69

    User’ s Manual BOSCH - 69/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 20: TTCAN Le vel 2 Drift Compensation Figure 20 describes how in TTCAN Le v el 2 each time receiving node compensates the dr ift between its o wn local clock and the Time Master’ s cloc k by comparing the length of a Basic Cycle in Local Time and in Global Time. [...]

  • Page 70

    User’ s Manual BOSCH - 70/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The TT Interrupt V ector consists of f our segments , each f our bits long. Each of the bits of the TT Interrupt V ector can be separately enab led b y a corresponding bit in the TT Interr upt Enable register . Once a bit of the TT Interrupt V ector is set, it will remain[...]

  • Page 71

    User’ s Manual BOSCH - 71/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The general configuration of the three nodes is identical, there are diff erences in the Operation Mode, the TT Matrix Limits, the Message RAM, and the T r igger Memor y . Note that the CPU has to wait after each write access to the IF1 Command Request Register f or the [...]

  • Page 72

    User’ s Manual BOSCH - 72/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 37 1C IF1 Message Control EoB , DLC = 8 (for arb. message) 0088 38 10 IF1 Command Request Arb_Msg1 for message object 5 0005 39 10 IF1 Command Request Arb_Msg2 for message object 6 0006 40 10 IF1 Command Request Arb_Msg3 for message object 7 0007 41 10 IF1 Command Request[...]

  • Page 73

    User’ s Manual BOSCH - 73/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In the Message RAM, the first Message Object is reser v ed f or the Ref erence Message. The objects 2 to 16 are transmit objects , the objects 17 to 32 are receiv e objects. 77 24 IF1 Message Data B2 Time_Mark 0320 0320 03F0 78 0E T rigger Memory Access write trigger 7 8[...]

  • Page 74

    User’ s Manual BOSCH - 74/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The transmit message objects 5 … 6, to be transmitted in the arbitr ating time windows , ma y be controlled dynamically or ma y be restricted to specific messages. Their identifiers should hav e a low er prior ity than the Ref erence Message or the periodic messages. [...]

  • Page 75

    User’ s Manual BOSCH - 75/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 6. CPU Interface The interf ace of the TTCAN module consist of two par ts (see figure 21). The Generic Interface which is a fix ed par t of the TTCAN module and the Customer Interf ace which can be adapted to the customers requirements. Figure 21: Str ucture of the modu[...]

  • Page 76

    User’ s Manual BOSCH - 76/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 6.2 Timing of the W AIT output signal If the Customer Interf aces is implemented with a wait-function, the CPU is halted while a message transf er is in progress between the IFx Registers and the Message RAM, when the module’ s optional output por t CAN_W AIT_B is at ac[...]

  • Page 77

    User’ s Manual BOSCH - 77/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 7. Appendix 7.1 List of Figures Figure 1: Block Diagram of the TTCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Figure 2: CAN_Core in Silent Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 [...]