ZERO SOM/ZERO Hardware/Peripherals/CAN
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Peripheral CAN[edit | edit source]
The CAN-FD module (CANFD) in the ZERO SOM is CAN-FD ISO 11898-1 (2015) compliant.
Description[edit | edit source]
The two CAN-FD channels have the following features:
- Communication speed
- Classical CAN mode: 1 Mbps
- CAN FD mode:
- Nominal bit rate: max. 1 Mbps
- Data bit rate: max. 8 Mbps
- Total 192 message buffers (when frame size is 76 bytes)
- Individual buffers: 64 for TX
- Shared buffers: 128 for TX and RX including FIFO
- Selectable ID type with 11-bit Standard and 18-bit Extended
- Selectable Frame type: Data Frame and Remote Frame
- Up to 256 receive rules
- Error status monitoring
- CAN protocol errors (stuff error, from error, ACK error, CRC error, bit error, ACK delimiter error, and bus dominant lock)
- Defects error status transitions (error warning, error passive, bus-off entry, and bus-off recovery)
- Reads the error counter
- Monitors DLC errors
- 8 interrupt sources
- 10 DMA requests
- clock source 40 or 80 MHz
