AT90CAN32 Automotive Atmel Corporation, AT90CAN32 Automotive Datasheet - Page 234

• Manufacturer Part Number: AT90CAN32 Automotive
• Manufacturer: Atmel Corporation

Specifications of AT90CAN32 Automotive

• Flash (kbytes): 32 Kbytes
• Pin Count: 64
• Max. Operating Frequency: 16 MHz
• Cpu: 8-bit AVR
• # Of Touch Channels: 16
• Hardware Qtouch Acquisition: No
• Max I/o Pins: 53
• Ext Interrupts: 8
• Usb Speed: No
• Usb Interface: No
• Spi: 1
• Twi (i2c): 1
• Uart: 2
• Can: 1
• Graphic Lcd: No
• Video Decoder: No
• Camera Interface: No
• Adc Channels: 8
• Adc Resolution (bits): 10
• Adc Speed (ksps): 15
• Analog Comparators: 1
• Resistive Touch Screen: No
• Temp. Sensor: No
• Crypto Engine: No
• Sram (kbytes): 2
• Eeprom (bytes): 1024
• Self Program Memory: YES
• Dram Memory: No
• Nand Interface: No
• Picopower: No
• Temp. Range (deg C): -40 to 125
• I/o Supply Class: 2.7 to 5.5
• Operating Voltage (vcc): 2.7 to 5.5
• Fpu: No
• Mpu / Mmu: no / no
• Timers: 4
• Output Compare Channels: 8
• Input Capture Channels: 2
• Pwm Channels: 7
• 32khz Rtc: Yes
• Calibrated Rc Oscillator: Yes

19.2.2
19.2.2.1
Figure 19-1. CAN Standard Frames
234
AT90CAN32/64/128
Message Formats
Can Standard Frame
Interframe
Interframe
Data Frame
Remote Frame
Bus Idle
Space
Bus Idle
Space
by which the dominant state overwrites the recessive state. The competition for bus allocation is
lost by all nodes with recessive transmission and dominant observation. All the "losers" automat-
ically become receivers of the message with the highest priority and do not re-attempt
transmission until the bus is available again.
The CAN protocol supports two message frame formats, the only essential difference being in
the length of the identifier. The CAN standard frame, also known as CAN 2.0 A, supports a
length of 11 bits for the identifier, and the CAN extended frame, also known as CAN 2.0 B, sup-
ports a length of 29 bits for the identifier.
A message in the CAN standard frame format begins with the "Start Of Frame (SOF)", this is fol-
lowed by the "Arbitration field" which consist of the identifier and the "Remote Transmission
Request (RTR)" bit used to distinguish between the data frame and the data request frame
called remote frame. The following "Control field" contains the "IDentifier Extension (IDE)" bit
and the "Data Length Code (DLC)" used to indicate the number of following data bytes in the
"Data field". In a remote frame, the DLC contains the number of requested data bytes. The "Data
field" that follows can hold up to 8 data bytes. The frame integrity is guaranteed by the following
"Cyclic Redundant Check (CRC)" sum. The "ACKnowledge (ACK) field" compromises the ACK
slot and the ACK delimiter. The bit in the ACK slot is sent as a recessive bit and is overwritten as
a dominant bit by the receivers which have at this time received the data correctly. Correct mes-
sages are acknowledged by the receivers regardless of the result of the acceptance test. The
end of the message is indicated by "End Of Frame (EOF)". The "Intermission Frame Space
(IFS)" is the minimum number of bits separating consecutive messages. If there is no following
bus access by any node, the bus remains idle.
SOF
SOF
SOF
SOF
11-bit identifier
11-bit identifier
ID10..0
ID10..0
Arbitration
Arbitration
Field
Field
RTR IDE r0
RTR IDE r0
Control
Control
Field
Field
4-bit DLC
4-bit DLC
DLC4..0
DLC4..0
15-bit CRC
CRC
Field
0 - 8 bytes
Data
Field
CRC
del.
ACK
ACK
Field
ACK
del.
End of
Frame
7 bits
15-bit CRC
CRC
Field
Intermission
3 bits
CRC
del.
Interframe
ACK
Space
Field
ACK
(Indefinite)
ACK
Bus Idle
del.
End of
Frame
7 bits
Intermission
7682C–AUTO–04/08
3 bits
Interframe
Space
(Indefinite
Bus Idle