Peripheral Simulation

For Atmel AT91SAM9263 — Controller Area Network (CAN)

Simulation support for this peripheral or feature is comprised of:

• Dialog boxes which display and allow you to change peripheral configuration.

These simulation capabilities are described below.

CAN 0 Communication Dialog

The Controller Area Network (CAN) Communication Dialog displays the CAN communication activity on the CAN bus. The message Number, States, Channel #, Message Identifiers, Message Direction, Data Length and Data content are displayed for each message. To clear the message display, double-click anywhere in the message display area.

CAN 0 Controller Dialog

The Controller Area Network (CAN) Controller dialog configures on-chip CAN Controller n. Each CAN controller provides storage for up to 15 message objects which can be a maximum of 8 bytes long.

Control & Baudrate & Error & Timer Group

• CAN_MD (Mode Register) controls the basic operating mode of the CAN controller and contains the following control bits:
• DRPT (Disable Repeat) is set to abort the data transfer request when bus arbitration is lost.
• TIMFRZ (Enable Timer Freeze) is set to make the internal timer stop when it reaches 0xFFFF.
• TTM (Disable/Enable Time Triggered Mode) is set to enable Time Triggered mode.
• TEOF (Timestamp at End of Frame) is set to capture the timestamp at the end of the frame. If reset, the timestamp is captured at the start of the frame.
• OVL (Overload Frame) is set to generate an overload frame after a message is received successfully.
• ABM (Autobaud/Listen Mode) is set to enable the Autobaud/Listen mode.
• LPM (Low Power Mode) is set set the CAN controller in Low Power mode after transmitting all pending messages.
• CANEN (CAN Controller Enable) is set to enable the CAN controller.
• CAN_BR (CAN Baudrate Register) controls the baudrate used for CAN communications and contains the following control bits:
• SMP (Sampling Mode) is set to sample the incoming bit stream 3 times using MCK as a clock period.
• BRP (Baudrate Prescaler) this value plus one is divided by MCK to produce the CAN system clock rate.
• SJW (Synchronization Jump Width) compensates for phase shift differences between CAN controllers on the bus. This value defines the maximum number of clock cycles a bit period may be adjusted during re-synchronization.
• PROPAG (Programming Time Segment) compenstaes for network delay timing.
• PHASE1 (Phase 1 Segment) compensates for edge phase error.
• PHASE2 (Phase 2 Segment) compensates for edge phase error.

• CAN_ECR (CAN Error Counter Register) contains the counts of receive and transmit errors.
• TEC (Transmit Error Counter) displays the number of transmit errors.
• REC (Receive Error Counter) displays the number of receive errors.
• CAN_TIM (CAN Timer Register) contains the current value of the CAN internal timer.
• CAN_TIMSTP (CAN Timestamp Register) contains the internal timer value at the start or end of frame, depending on the TEOF bit in CAN_MR.

Interrupt Group

• CAN_IER (CAN Interrupt Enable Register) contains CAN Interrupt Enable bits. Setting a bit enables an interrupt.
• CAN_IDR (CAN Interrupt Disable Register) contains CAN Interrupt disable bits. Setting a bit disables an interrupt.
• CAN_IMR (CAN Interrupt Mask Register) contains CAN Interrupt mask bits. Setting a bit prevents an interrupt from occurring.
• CAN_SR (CAN Status Register) when a CAN event occurs, this register contains the event and the mailbox which triggered the event.

Command Group

• CAN_TCR (CAN Transfer Command Register) initiates a transfer request for 1 or more mailboxes.
• TIMRST (CAN Timer Reset) is set to reset the CAN internal timer.
• CAN_ACR (CAN Abort Command Register) initiates abort requests for 1 or more mailboxes.

CAN 0 Mailbox Dialog

The CAN Controller Mailbox dialog displays the status of the 8 mailboxes (sometimes called channels or buffers) supported by this device.

Selected Mailbox Group

• CAN_MMRn (CAN Message Mode n Register) contains the following control settings:
• MOT (Mailbox Object Type) selects the mailbox type.
• PRIOR (Mailbox Priority) selects the mailbox priority for transmitting data. This is not used when receiving data.
• MTIMEMARK (Mailbox Timemark) when using Time-Triggered Mode, tranmission is allowed when the internal CAn timer reaches this value.
• CAN_MAMn (CAN Message Acceptance Mask n Register) contains the following control settings:
• MIDE (Identifier Version) is set to accept both standard and extended frame identifiers. If reset, only standard identifiers are accepted.
• MIDvA (Standard Frame Identifier) contains the accceptance mask for standard frames.
• MIDvB (Extended Frame Identifier) contains the accceptance mask for extended frames.
• CAN_MIDn (CAN Message ID n Register) contains the following settings:
• MIDE (Identifier Version) is set to for Version 2.0, Part B (extended) message frames. If reset, Version 2.0, Part A (standard)message frames are sent and recognized.
• MIDvA (Standard Frame Identifier) contains the identifier for standard frames.
• MIDvB (Extended Frame Identifier) contains the identifier for extended frames.
• CAN_MFIDn (CAN Message Family ID n Register) contains the result of masking the CAN_MIDn and the CAN_MAMn registers.
• CAN_MSRn (CAN Status n Register) contains the following status information:
• MMI (Mailbox Message Ignored) is set when at least 1 mail message was ignored.
• MRDY (Mailbox Ready) is set when the mailbox registers may be written or read.
• MABT (Mailbox Message Abort) is set when the previous message was aborted.
• MRTR (Mailbox Remote Transmission Request) is set to indicate another device on the CAN bus wants to sends a message to this device.
• MDLC (Mailbox Data length Code) contains the length of the mailbox message received.
• CAN_MDLn (CAN Message Data Low Value n) contains the lower 4 bytes of the message data.
• CAN_MDHn (CAN Message Data High Value n) contains the upper 4 bytes of the message data.
• CAN_MCRn (CAN Message Control Register n) contains the following control information:
• MTCR (Mailbox Transfer Command) starts transmission of one or mmore mailboxes, based on the PRIOR setting.
• MACR (Mailbox Abort Request) cancel a transfer request a mailbox if it has not been transmitted.
• MRTR (Mailbox Remote Transmission Request) sets the RTR bit in the sent frame.
• MDLC (Mailbox Data length Code) contains the length of the mailbox message to be sent.