CAN 2.0 NETWORK CONTROLLER---MCAN2 PROGRAMMER’S GUIDE

1. INTRODUCTION
   The Inventra™ MCAN2 is a stand-alone controller for the CAN Controller Area Network used in the automotive industry and in
   a number of other industrial environments. It provides an interface between a microprocessor and a CAN bus which carries out
   all the actions of data encoding/decoding (including serialisation/deserialisation of data, bit stuffing/unstuffing), message
   management (acceptance filtering, acknowledgement, error detection and signaling, and re-transmission), bit timing and
   synchronization involved in transmitting and receiving information over a CAN network.
   The MCAN2 controller implements the BOSCH CAN message transfer protocols 2.0A and 2.0B. Specification 2.0A (which is
   equivalent to CAN 1.2) covers standard message formats (11-bit identifier); Specification 2.0B covers both standard and extended
   message formats (both 11-bit and 29-bit identifiers).
   The MCAN2 is broadly compatible with a Philips SJA1000 working in its PeliCAN mode (with some exceptions, detailed in
   Section 8 of the MCAN2 Product Specification.).
   The design has a synchronous PVCI1-compatible CPU interface for ease of connection to a range of microprocessor buses.
   This document describes the software interface to the MCAN2 and describes how a typical application should drive the core. It
   should be read in conjunction with the BOSCH CAN specification version 2.0 (hereafter referred to as the CAN 2.0
   specification).
   Note: The CAN 2.0 specification uses the convention that, on the CAN bus, Recessive bits are logic ‘1’ while Dominant bits are
   logic ‘0’. This convention is also used in the MCAN2 design.
   2 . M O D E S O F O P E R A T I O N
   The MCAN2 has two main modes of operation: an Operating Mode in which data may be transmitted and received, and a Reset
   Mode in which bus timing parameters and message acceptance filters can be set. Reset Mode also allows the Receive and
   Transmit Error Counters and the Error Warning Limit to be changed.
   Reset Mode is selected either by executing a hardware reset or by setting the Reset Mode bit in the Mode Register (MOD.0) to ‘1’.
   The MCAN2 is returned to Operating Mode by clearing the MOD.0 bit. Note