Chapter 12 Freescale’s Scalable Controller Area Network (S12MSCANV3)
MC9S12ZVM Family Reference Manual Rev. 1.3
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Freescale Semiconductor
12.5
Initialization/Application Information
12.5.1
MSCAN initialization
The procedure to initially start up the MSCAN module out of reset is as follows:
1. Assert CANE
2. Write to the configuration registers in initialization mode
3. Clear INITRQ to leave initialization mode
If the configuration of registers which are only writable in initialization mode shall be changed:
1. Bring the module into sleep mode by setting SLPRQ and awaiting SLPAK to assert after the CAN
bus becomes idle.
2. Enter initialization mode: assert INITRQ and await INITAK
3. Write to the configuration registers in initialization mode
4. Clear INITRQ to leave initialization mode and continue
12.5.2
Bus-Off Recovery
The bus-off recovery is user configurable. The bus-off state can either be left automatically or on user
request.
For reasons of backwards compatibility, the MSCAN defaults to automatic recovery after reset. In this
case, the MSCAN will become error active again after counting 128 occurrences of 11 consecutive
recessive bits on the CAN bus (see the Bosch CAN 2.0 A/B specification for details).
If the MSCAN is configured for user request (BORM set in MSCAN Control Register 1 (CANCTL1)), the
recovery from bus-off starts after both independent events have become true:
•
128 occurrences of 11 consecutive recessive bits on the CAN bus have been monitored
•
BOHOLD in MSCAN Miscellaneous Register (CANMISC) has been cleared by the user
These two events may occur in any order.
