Rainbow-electronics ATmega64C1 Bedienungsanleitung PDF herunterladen (Seite 183)

183

7647A–AVR–02/08

ATmega32/64/M1/C1

Figure 16-14. CAN Controller Interrupt Structure

16.8.2 Interrupt Behavior

When an interrupt occurs, an interrupt flag bit is set in the corresponding MOb-CANSTMOB reg-

ister or in the general CANGIT register. If in the CANIE register, ENRX / ENTX / ENERR bit are

set, then the corresponding MOb bit is set in the CANSITn register.

To acknowledge a MOb interrupt, the corresponding bits of CANSTMOB register (RXOK,

TXOK,...) must be cleared by the software application. This operation needs a read-modify-write

software routine.

To acknowledge a general interrupt, the corresponding bits of CANGIT register (BXOK, BOF-

FIT,...) must be cleared by the software application. This operation is made writing a logical one

in these interrupt flags (writing a logical zero doesn’t change the interrupt flag value).

OVRTIM interrupt flag is reset as the other interrupt sources of CANGIT register and is also

reset entering in its dedicated interrupt handler.

When the CAN node is in transmission and detects a Form Error in its frame, a bit Error will also

be raised. Consequently, two consecutive interrupts can occur, both due to the same error.

When a MOb error occurs and is set in its own CANSTMOB register, no general error is set in

CANGIT register.

TXOK[i]CANSTMOB.6

RXOK[i]CANSTMOB.5

BERR[i]CANSTMOB.4

SERR[i]CANSTMOB.3

CERR[i]CANSTMOB.2

FERR[i]CANSTMOB.1

AERR[i]CANSTMOB.0

BXOKCANGIT.4

SERGCANGIT.3

CERGCANGIT.2

FERGCANGIT.1

AERGCANGIT.0

BOFFICANGIT.6

ENTX

CANGIE.4

ENRX

CANGIE.5

ENERR

CANGIE.3

ENBX

CANGIE.2

ENERG

CANGIE.1

ENBOFF

CANGIE.6

IEMOB[i]

CANIE 1/2

ENIT

CANGIE.7

ENOVRT

CANGIE.0

SIT[i]

CANSIT 1/2

CANIT

CANGIT.7

CAN I

OVR I

OVRTIMCANGIT.5

1 2 ... 178 179 180 181 182 183 184 185 186 187 188 ... 365 366

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