SJA1000: Stand-alone CAN controller
The SJA1000 is a stand-alone controller for the Controller Area Network (CAN) used within automotive and general industrial environments. It is the successor of the PCA82C200 CAN controller (BasicCAN) from Philips Semiconductors. Additionally, a new mode of operation is implemented (PeliCAN) which supports the CAN 2.0B protocol specification with several new features.
1. INTERFACE MANAGEMENT LOGIC (IML)
The interface management logic interprets commands from the CPU, controls addressing of the CAN registers and provides interrupts and status information to the host microcontroller.
2.TRANSMIT BUFFER (TXB)
The transmit buffer is an interface between the CPU and the Bit Stream Processor (BSP) that is able to store a complete message for transmission over the CAN network. The buffer is 13 bytes long, written to by the CPU and read out by the BSP.
3. RECEIVE BUFFER (RXB, RXFIFO)
The receive buffer is an interface between the acceptance filter and the CPU that stores the received and accepted messages from the CAN-bus line. The Receive Buffer (RXB) represents a CPU-accessible 13-byte window of the Receive FIFO (RXFIFO), which has a total length of
With the help of this FIFO the CPU is able to process one message while other messages are being received.
4. ACCEPTANCE FILTER (ACF)
The acceptance filter compares the received identifier with the acceptance filter register contents and decides whether this message should be accepted or not. In the event of a positive acceptance test, the complete message is stored in the RXFIFO.
5. BIT STREAM PROCESSOR (BSP)
The bit stream processor is a sequencer which controls the data stream between the transmit buffer, RXFIFO and the CAN-bus. It also performs the error detection, arbitration, stuffing and error handling on the CAN-bus.
6. BIT TIMING LOGIC (BTL)
The bit timing logic monitors the serial CAN-bus line and handles the bus line-related bit timing. It is synchronized to the bit stream on the CAN-bus on a ‘recessive-to-dominant’ bus line transition at the beginning of a message (hard synchronization) and re-synchronized on further transitions during the reception of a message (soft synchronization). The BTL also provides programmable time segments to compensate for the propagation delay times and phase shifts (e.g. due to
oscillator drifts) and to define the sample point and the number of samples to be taken within a bit time.
7.ERROR MANAGEMENT LOGIC (EML)
The EML is responsible for the error confinement of the transfer-layer modules. It receives error announcements from the BSP and then informs the BSP and IML about error statistics.
6.2 Detailed description of the CAN controller
The SJA1000 is designed to be software and pin-compatible to its predecessor, the PCA82C200 stand-alone CAN controller. Additionally, a lot of new functions are implemented. To achieve the software compatibility, two different modes of operation are implemented:
• BasicCAN mode; PCA82C200 compatible • PeliCAN mode; extended features.
The mode of operation is selected with the CAN-mode bit located within the clock divider register. Default mode upon reset is the BasicCAN mode.
8. PCA82C200 COMPATIBILITY
In BasicCAN mode the SJA1000 emulates all known registers from the PCA82C200 stand-alone CAN controller. The characteristics, as described in Sections 18.104.22.168 to 22.214.171.124 are different from the PCA82C200 design with respect to software compatibility.
9. Synchronization mode
The SYNC bit in the control register is removed (CR.6 in the PCA82C200). Synchronization is only possible by a recessive-to-dominant transition on the CAN-bus. Writing to this bit has no effect. To achieve compatibility to existing application software, a read access to this bit will reflect the previously written value (flip-flop without effect).
10. Clock divider register
The clock divider register is used to select the CAN mode of operation (BasicCAN/PeliCAN). Therefore one of the reserved bits within the PCA82C200 is used. Writing a value between 0 and 7, as allowed for the PCA82C200, will enter the BasicCAN mode. The default state is divide by 12 for Motorola mode and divide by 2 for Intel mode. An additional function is implemented within another of the reserved bits. Setting of bit CBP (see Table 49) enables the internal RX input comparator to be bypassed thereby reducing the internal delays if an external transceiver circuit is used.
Features• Pin compatibility to the PCA82C200 stand-alone CAN controller
• Electrical compatibility to the PCA82C200 stand-alone CAN controller
• PCA82C200 mode (BasicCAN mode is default)
• Extended receive buffer (64-byte FIFO)
• CAN 2.0B protocol compatibility (extended frame passive in PCA82C200 compatibility mode)
• Supports 11-bit identifier as well as 29-bit identifier
• Bit rates up to 1 Mbits/s
• PeliCAN mode extensions:
– Error counters with read/write access
– Programmable error warning limit
– Last error code register
– Error interrupt for each CAN-bus error
– Arbitration lost interrupt with detailed bit position
– Single-shot transmission (no re-transmission)
– Listen only mode (no acknowledge, no active error flags)
– Hot plugging support (software driven bit rate detection)
– Acceptance filter extension (4-byte code, 4-byte mask)
– Reception of ‘own’ messages (self reception request)
• 24 MHz clock frequency
• Interfaces to a variety of microprocessors
• Programmable CAN output driver configuration
• Extended ambient temperature range (−40 to +125 °C).
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