AT90CAN128-16AE ATMEL Corporation, AT90CAN128-16AE Datasheet - Page 388

• Manufacturer Part Number: AT90CAN128-16AE
• Description: 8-bit Avr Microcontroller With 128K Bytes of Isp Flash And CAN Controller.flash (Kbytes) 128 Vcc (V) 2.7-5.5 EEPROM (Kbytes) 4 SRAM (bytes) 4K CAN (mess. Obj.) 15
• Manufacturer: ATMEL Corporation

4
AT90CAN128
Contoller Area Network - CAN ......................................................... 229
Analog Comparator .......................................................................... 260
Analog to Digital Converter - ADC .................................................. 263
JTAG Interface and On-chip Debug System .................................. 282
Data Transfer and Frame Format ..................................................................... 200
Multi-master Bus Systems, Arbitration and Synchronization ............................ 202
Overview of the TWI Module .............................................................................205
TWI Register Description ...................................................................................207
Using the TWI ................................................................................................... 211
Transmission Modes..........................................................................................214
Multi-master Systems and Arbitration ............................................................... 227
Features............................................................................................................ 229
CAN Protocol .................................................................................................... 229
CAN Controller................................................................................................... 234
CAN Channel.....................................................................................................235
Message Objects ...............................................................................................237
CAN Timer .........................................................................................................240
Error Management.............................................................................................241
Interrupts............................................................................................................243
CAN Register Description..................................................................................245
General CAN Registers .................................................................................... 246
MOb Registers.................................................................................................. 254
Overview........................................................................................................... 260
Analog Comparator Register Description ......................................................... 260
Analog Comparator Multiplexed Input .............................................................. 262
Features............................................................................................................ 263
Operation .......................................................................................................... 265
Starting a Conversion ....................................................................................... 265
Prescaling and Conversion Timing ................................................................... 266
Changing Channel or Reference Selection ...................................................... 269
ADC Noise Canceler......................................................................................... 270
ADC Conversion Result.................................................................................... 275
ADC Register Description................................................................................. 277
Features............................................................................................................ 282
Overview........................................................................................................... 282
Test Access Port – TAP.................................................................................... 282
TAP Controller .................................................................................................. 284
Using the Boundary-scan Chain ....................................................................... 285
Using the On-chip Debug System .................................................................... 285
On-chip Debug Specific JTAG Instructions ...................................................... 286
On-chip Debug Related Register in I/O Memory .............................................. 286
Using the JTAG Programming Capabilities ...................................................... 287
4250C–CAN–03/04