SAM3A4C Atmel Corporation, SAM3A4C Datasheet - Page 1208

• Manufacturer Part Number: SAM3A4C
• Manufacturer: Atmel Corporation

40.6.3
40.7
40.7.1
40.7.2
1208
1208
CAN Controller Features
SAM3X/A
SAM3X/A
Interrupt
CAN Protocol Overview
Mailbox Organization
After restarting the clock, the application must disable the Low-power Mode of the CAN
controller.
The CAN interrupt line is connected on one of the internal sources of the Advanced Interrupt
Controller. Using the CAN interrupt requires the AIC to be programmed first. Note that it is not
recommended to use the CAN interrupt line in edge-sensitive mode.
Table 40-3.
The Controller Area Network (CAN) is a multi-master serial communication protocol that effi-
ciently supports real-time control with a very high level of security with bit rates up to 1 Mbit/s.
The CAN protocol supports four different frame types:
The Atmel CAN controller provides the CPU with full functionality of the CAN protocol V2.0 Part
A and V2.0 Part B. It minimizes the CPU load in communication overhead. The Data Link Layer
and part of the physical layer are automatically handled by the CAN controller itself.
The CPU reads or writes data or messages via the CAN controller mailboxes. An identifier is
assigned to each mailbox. The CAN controller encapsulates or decodes data messages to build
or to decode bus data frames. Remote frames, error frames and overload frames are automati-
cally handled by the CAN controller under supervision of the software application.
The CAN module has
sponds to the CAN identifier is defined for each active mailbox. Message identifiers can match
the standard frame identifier or the extended frame identifier. This identifier is defined for the first
time during the CAN initialization, but can be dynamically reconfigured later so that the mailbox
can handle a new message family. Several mailboxes can be configured with the same ID.
Each mailbox can be configured in receive or in transmit mode independently. The mailbox
object type is defined in the MOT field of the CAN_MMRx register.
• Data frames: They carry data from a transmitter node to the receiver nodes. The overall
• Remote frames: A destination node can request data from the source by sending a remote
• Error frames: An error frame is generated by any node that detects a bus error.
• Overload frames: They provide an extra delay between the preceding and the successive
maximum data frame length is 108 bits for a standard frame and 128 bits for an extended
frame.
frame with an identifier that matches the identifier of the required data frame. The appropriate
data source node then sends a data frame as a response to this node request.
data frames or remote frames.
Instance
CAN0
CAN1
Peripheral IDs
8
buffers, also called channels or mailboxes. An identifier that corre-
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ID
11057A–ATARM–17-Feb-12
11057A–ATARM–17-Feb-12