Instruction/ maintenance manual of the product TTCAN Bosch
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User’ s Manual BOSCH Re vision 1.6 TTCAN 11.11.02 manual_about.fm Robert Bosch GmbH A utomotiv e Electronics Semiconductors and Integrated Circuits Digital CMOS Design Group TTCAN IP Module User’ s Manual Re vision 1.
User’ s Manual BOSCH - 2/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Copyright Notice and Proprietary Information Copyright © 1998, 1999, 2002 Robert Bosch GmbH. All rights reserved. This software and manual are owned by Robert Bosch GmbH, and may be used only as authorized in the license agreement controlling such use.
User’ s Manual BOSCH - 3/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm TTCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1. About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User’ s Manual BOSCH - 4/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.4. Message Handler Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.4.1. Interrupt Register (addresses 0x09 & 0x08) . .
User’ s Manual BOSCH - 5/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.2. Configuration of the Message Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.2.2.1. Configuration of a Transmit Object for Data Frames . . . . . .
User’ s Manual BOSCH - 6/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 1. About this Document 1.1 Change Control 1.1.1 Current Status Re vision 1.6 1.1.2 Change History Issue Date By Change Draft 0.0 30.06.00 F . Har twich First Draft Re vision 0.
User’ s Manual BOSCH - 7/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 1.5 T erms and Abbreviations This document uses the f ollowing terms and abbre viations.
User’ s Manual BOSCH - 8/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2. Functional Description 2.1 Functional Overview The TTCAN is a CAN IP module that can be integrated as stand-alone de vice or as par t of an ASIC . It is described in VHDL on RTL le vel, prepared f or synthesis.
User’ s Manual BOSCH - 9/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.2 Block Dia gram Figure 1: Block Diagr am of the TTCAN CAN_Core CAN Protocol Controller and Rx/Tx Shift Register , handles all ISO 11898-1 protocol functions.
User’ s Manual BOSCH - 10/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.3 Operating Modes 2.3.1 Software Initialisation The software initialization is star ted by setting the bit Init in the CAN Control Register , either by softw are or b y a hardware reset, or b y going Bus_Off .
User’ s Manual BOSCH - 11/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm set to not v alid any time , e v en when their requested transmission is still pending. The old data will be discarded when a message is updated bef ore its pending transmission has star ted.
User’ s Manual BOSCH - 12/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm LBack Loop Bac k Mode one Loop Back Mode is enab led. zero Loop Back Mode is disab led. Silent Silent Mode one The module is in Silent Mode zero Nor mal operation. NoRAM No Message RAM Mode one IF1 Registers used as Tx Buff er , IF2 Registers used as Rx Buffer .
User’ s Manual BOSCH - 13/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.3.4.4 Loop Back Mode The CAN_Core can be set in Loop Bac k Mode by prog ramming the T est Register bit LBac k to one .
User’ s Manual BOSCH - 14/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 2.3.4.6 Software control of Pin CAN_TX F our output functions are av ailable f or the CAN transmit pin CAN_TX .
User’ s Manual BOSCH - 15/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3. Pr ogrammer’ s Model The TTCAN module allocates an address space of 256 bytes . The registers are organized as 16-bit registers, with the high b yte at the odd address and the lo w byte at the e ven address .
User’ s Manual BOSCH - 16/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 5: TTCAN Register Summar y 3.1 Hard ware Reset Description After hardware reset, the registers of the TTCAN hold the v alues descr ibed in figure 5. Additionally the Bus_Off state is reset and the output CAN_TX is set to recessiv e (HIGH).
User’ s Manual BOSCH - 17/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.2 CAN Protocol Related Register s These registers are related to the CAN protocol controller in the CAN Core. The y control the operating modes and the configuration of the CAN bit timing and pro vide status inf ormation.
User’ s Manual BOSCH - 18/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.2.2 Status Register (addresses 0x03 & 0x02) BOff Bus_Off Status one The CAN module is in Bus_Off state. zero The CAN module is not Bus_Off . EW arn Warning Status one At least one of the error counters in the EML has reached the error warning limit of 96.
User’ s Manual BOSCH - 19/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The LEC field holds a code which indicates the type of the last error to occur on the CAN bus . This field will be cleared to ‘0’ when a message has been transf erred (reception or transmis- sion) without error .
User’ s Manual BOSCH - 20/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm BRP Baud Rate Prescaler 0x00-0x3F The v alue by which the oscillator frequency is divided f or gener- ating the bit time quanta. The bit time is built up from a m ultiple of this quanta.
User’ s Manual BOSCH - 21/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm single transf er . This transf er , perf or med in parallel on all selected par ts of the Message Object, guarantees the data consistency of the CAN message . Figure 6 shows the structure of the two Interf ace Register sets.
User’ s Manual BOSCH - 22/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm ClrIntPnd Clear Interrupt P ending Bit Note : When writing to a Message Object, this bit is ignored.
User’ s Manual BOSCH - 23/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 6 CAN_CLK periods, the transf er between the Interface Register and the Message RAM has completed and the Busy bit is cleared to ‘0’.
User’ s Manual BOSCH - 24/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.3.3.3 IFx Message Control Register s 3.3.3.4 IFx Data A and Data B Registers The data bytes of CAN messages are stored in the IFx registers in the f ollowing order : In a CAN Data F rame, Data(0) is the first, Data(7) is the last b yte to be transmitted or receiv ed.
User’ s Manual BOSCH - 25/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm ID28-0 Message Identifier ID28 - ID0 29-bit Identifier (“Extended F rame”). ID28 - ID18 11-bit Identifier (“Standard F rame”). Msk28-0 Identifier Mask one The corresponding identifier bit is used f or acceptance filtering.
User’ s Manual BOSCH - 26/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm NewDat Ne w Data one The Message Handler or the CPU has written new data into the data por- tion of this Message Object.
User’ s Manual BOSCH - 27/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Data 0 1st data byte of a CAN Data F rame Data 1 2nd data byte of a CAN Data F rame Data 2 3rd data byte of a CAN Data F r.
User’ s Manual BOSCH - 28/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.4.2 T ransmission Request Registers TxRqst32-1 T ransmission Request Bits (of all Message Objects) one The transmission of this Message Object is requested and is not y et done.
User’ s Manual BOSCH - 29/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.4.5 Message V alid 1 Register MsgV al32-1 Message V alid Bits (of all Message Objects) one This Message Object is configured and should be considered by the Mes- sage Handler .
User’ s Manual BOSCH - 30/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In the T rigger Memor y , the T riggers must be sor ted according to their Time_Marks. There ma y not be two T r iggers that are active at the same Cycle Time and Cycle_Count.
User’ s Manual BOSCH - 31/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm EECS Enable External Clock Synchronisation one TUR Configuration ( NumCfg only) ma y be updated during TTCAN operation. zero TUR Configuration ma y not be updated. TTMode TTCAN Operation Mode 0x0 TTMode_0 Ev ent driven CAN Communication (def ault mode).
User’ s Manual BOSCH - 32/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm CCM Cycle_Count_Max (Number of last Basic Cycle in the Matrix Cycle) 0x00 1 Basic Cycle in the Matrix Cycle. 0x01 2 Basic Cycles in the Matrix Cycle. 0x03 4 Basic Cycles in the Matrix Cycle.
User’ s Manual BOSCH - 33/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Any n umber of bits ma y be written to ‘0’ (cleared) at the same time. Bits that are written to ‘1’ remain unchanged. CfE Config Error Set when an error is f ound in the T rigger List.
User’ s Manual BOSCH - 34/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.9 TT Global Time Register (addresses 0x35 & 0x34) Global_Time Global Time of the TTCAN network 0x0000-0xFFFF Actual Global Time v alue.
User’ s Manual BOSCH - 35/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.13 TT Cycle Count Register (ad dresses 0x3D & 0x3C) C_Cnt5-0 Cycle_Count 0x00-0x3F The number of the actual Basic Cycle in the System Matrix.
User’ s Manual BOSCH - 36/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.16 TUR Denominator Configuration Register (addresses 0x59 & 0x58) DenomCfg[13 … 0] TUR Denominator Configuration 0x0000 Illegal v alue. 0x0001-0x3FFF DenomCfg [13 … 0].
User’ s Manual BOSCH - 37/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.19 TT Global Time Preset Register (addresses 0x65 & 0x64) GTDiff Global Time Preset 0x0000-0x7FFF Master_Ref_Mark = Master_Ref_Mar k + GTDiff . 0x8000 reser ved. 0x8001-0xFFFF Master_Ref_Mar k = Master_Ref_Mar k - (0x10000 - GTDiff ).
User’ s Manual BOSCH - 38/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm TMC Time Mark Compare 0x0 No Time Mark interr upt is generated. 0x1 Time Mark interr upt if (Time Mark = Cycle Time). 0x2 Time Mark interr upt if (Time Mark = Local Time). 0x3 Time Mark interr upt if (Time Mark = Global Time).
User’ s Manual BOSCH - 39/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 3.5.22 TT Time Mark Register (addresses 0x6D & 0x6C) TMark Time Mark 0x0000-0xFFFF An interrupt is generated when the time base indicated by TMC (Cycle Time, Local Time , or Global Time) has the same v alue as Time Mark.
User’ s Manual BOSCH - 40/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm basic cycle will continue until its last time windo w . The time after the last time window is the Gap time. In nodes that are time slav es, the Gap bit will remain at ‘0’.
User’ s Manual BOSCH - 41/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4. CAN Application The TTCAN module can emulate a C_CAN module in ordinary ev ent driven ISO 11898-1 CAN communication.
User’ s Manual BOSCH - 42/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm When the CPU initiates a data transf er between the IFx Registers and Message RAM, the Message Handler sets the Busy bit in the respective Command Request Register to ‘1’.
User’ s Manual BOSCH - 43/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.1.3 Acceptance Filtering of Received Messages When the arbitration and control field (Identifier + IDE + R TR + DLC) o.
User’ s Manual BOSCH - 44/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Receiv ed messages with identifiers matching to a FIFO Buff er are stored into a Message Object of this FIFO Buff er , star ting with the Message Object with the low est message number .
User’ s Manual BOSCH - 45/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.1 Configuration of the Bit Timing Ev en if minor errors in the configuration of the CAN bit timing do not result in immediate f ailure, the perf or mance of a CAN network can be reduced significantly .
User’ s Manual BOSCH - 46/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm A giv en bit rate ma y be met b y diff erent bit time configurations, b ut for the proper function of the CAN network the ph ysical dela y times and the oscillator’ s tolerance range hav e to be considered.
User’ s Manual BOSCH - 47/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm transmits a recessiv e bit. The dominant bit transmitted b y node B will arrive at node A after the dela y(B_to_A).
User’ s Manual BOSCH - 48/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm When the phase error of the edge which causes Resynchronisation is negativ e, Phase_Seg2 is shor tened. If the magnitude of the phase error is less than SJW , Phase_Seg2 is shor tened by the magnitude of the phase error , else it is shor tened b y SJW .
User’ s Manual BOSCH - 49/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In the first e xample an edge from recessiv e to dominant occurs at the end of Prop_Seg.
User’ s Manual BOSCH - 50/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.1.4 Oscillator T olerance Range The oscillator tolerance range w as increased when the CAN protocol was de veloped from v ersion 1.1 to version 1.2 (v ersion 1.0 was ne v er implemented in silicon).
User’ s Manual BOSCH - 51/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In these bit timing registers, the f our components TSEG1, TSEG2, SJW , and BRP hav e to be programmed to a n umerical value that is one less than its functional v alue; so instead of v alues in the range of [1 … n], v alues in the range of [0 … n-1] are progr ammed.
User’ s Manual BOSCH - 52/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm If more than one configuration is possib le, that configur ation allowing the highest oscillator tolerance range should be chosen. CAN nodes with diff erent system clocks require diff erent configurations to come to the same bit rate .
User’ s Manual BOSCH - 53/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.2.1.8 Example for Bit Timing at lo w Baudrate In this e xample, the frequency of CAN_CLK is 2 MHz, BRP is 1, the bit rate is 100 KBit/s.
User’ s Manual BOSCH - 54/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The CPU ma y poll all Message Object’ s NewDat and TxRqst bits in parallel, in the Ne w Data x Registers and in the T ransmission Request x Registers.
User’ s Manual BOSCH - 55/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The Arbitration Registers ( ID28-0 and Xtd bit) are giv en b y the application.
User’ s Manual BOSCH - 56/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm ‘0’), it is programmed to ID28 - ID18 , ID17 - ID0 can then be disregarded. When a Remote F rame with an 11-bit Identifier is received, ID17 - ID0 will be set to ‘0’.
User’ s Manual BOSCH - 57/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The interrupt identifier IntId in the Interr upt Register indicates the cause of the interrupt.
User’ s Manual BOSCH - 58/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 4.3.3 Changing a T ransmit Object In an application f or that the number of Message Objects in the TTCAN module is not sufficient, the T ransmit Objects ma y be managed dynamically .
User’ s Manual BOSCH - 59/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 17: CPU Handling of a FIFO Buffer (Interrupt Driven) Read Interrupt Pointer START case Interrupt Pointer 0x8000h el.
User’ s Manual BOSCH - 60/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 5. TTCAN Application 5.1 TTCAN Configuration The TTCAN’ s default oper ating mode after hardware reset is Standard CAN Comm unication without time triggers.
User’ s Manual BOSCH - 61/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 18: TUR configuration e xamples The TTCAN module provides a w atchdog to v erity the function of the application program. The host has to ser ve this w atchdog regularly , else all CAN bus activity is stopped.
User’ s Manual BOSCH - 62/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm operates according to ISO 11898-4, b ut without the possibility to synchronise the Basic Cycles to e xter nal e v ents, the Ne xt_is_Gap bit in the Ref erence Message is ignored.
User’ s Manual BOSCH - 63/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm f or Arbitrating Time Windo ws, Tx_T r igger_Merged may be used only f or Merged Arbitrating Time Windows . The last Tx_T rigger of a Merged Arbitrating Time Window must be of the type Tx_T rigger_Single.
User’ s Manual BOSCH - 64/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm A typical T rigger List for a potential Time Master will begin with a n umber of Tx_T riggers and Rx_T riggers follo wed b y the Tx_Ref_T rigger and the W atch_T rigger .
User’ s Manual BOSCH - 65/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm TxRqst and RmtEn ma y ne v er be set f or a periodic transmit message. T o enab le the transmission of a periodic message inside an Exclusive Time Windo w , TxRqst has to be set to ‘0’ and NewDat has to be set to ‘1’.
User’ s Manual BOSCH - 66/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm reset or configuration, giving no ac knowledge). When it reaches Initial_W atch_T rigger (not par t of the T r igger List.
User’ s Manual BOSCH - 67/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Window , the retransmission ma y happen inside the same Window . The retransmission will not be star ted if NewDat is reset b y the application program.
User’ s Manual BOSCH - 68/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm (the “Micro Tick”) is incremented eight times each NTU , or , when TUR becomes < 8 by drift compensation or by configur ation f or TTCAN Le v el 1, it is incremented four times each NTU .
User’ s Manual BOSCH - 69/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm Figure 20: TTCAN Lev el 2 Dr ift Compensation Figure 20 describes how in TTCAN Le v el 2 each time receiving node compensa.
User’ s Manual BOSCH - 70/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The TT Interrupt V ector consists of four segments , each f our bits long. Each of the bits of the TT Interrupt V ector can be separately enabled b y a corresponding bit in the TT Interrupt Enable register .
User’ s Manual BOSCH - 71/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The general configuration of the three nodes is identical, there are diff erences in the Operation Mode, the TT Matrix Limits, the Message RAM, and the T r igger Memor y .
User’ s Manual BOSCH - 72/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 37 1C IF1 Message Control EoB , DLC = 8 (for arb . message) 0088 38 10 IF1 Command Request Arb_Msg1 for message object 5 0.
User’ s Manual BOSCH - 73/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm In the Message RAM, the first Message Object is reser ved f or the Reference Message . The objects 2 to 16 are transmit objects , the objects 17 to 32 are receiv e objects.
User’ s Manual BOSCH - 74/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm The transmit message objects 5 … 6, to be transmitted in the arbitr ating time windows , ma y be controlled dynamically or ma y be restricted to specific messages. Their identifiers should hav e a low er prior ity than the Reference Message or the periodic messages .
User’ s Manual BOSCH - 75/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 6. CPU Interface The interf ace of the TTCAN module consist of two par ts (see figure 21). The Gener ic Interf ace which is a fix ed par t of the TTCAN module and the Customer Interface which can be adapted to the customers requirements.
User’ s Manual BOSCH - 76/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 6.2 Timing of the W AIT output signal If the Customer Interf aces is implemented with a wait-function, the CPU is halted w.
User’ s Manual BOSCH - 77/77 - Re vision 1.6 TTCAN 11.11.02 manual_about.fm 7. Appendix 7.1 List of Figures Figure 1: Block Diagram of the TTCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Figure 2: CAN_Core in Silent Mode .
An important point after buying a device Bosch TTCAN (or even before the purchase) is to read its user manual. We should do this for several simple reasons:
If you have not bought Bosch TTCAN yet, this is a good time to familiarize yourself with the basic data on the product. First of all view first pages of the manual, you can find above. You should find there the most important technical data Bosch TTCAN - thus you can check whether the hardware meets your expectations. When delving into next pages of the user manual, Bosch TTCAN you will learn all the available features of the product, as well as information on its operation. The information that you get Bosch TTCAN will certainly help you make a decision on the purchase.
If you already are a holder of Bosch TTCAN, but have not read the manual yet, you should do it for the reasons described above. You will learn then if you properly used the available features, and whether you have not made any mistakes, which can shorten the lifetime Bosch TTCAN.
However, one of the most important roles played by the user manual is to help in solving problems with Bosch TTCAN. Almost always you will find there Troubleshooting, which are the most frequently occurring failures and malfunctions of the device Bosch TTCAN along with tips on how to solve them. Even if you fail to solve the problem, the manual will show you a further procedure – contact to the customer service center or the nearest service center
