Microchip Technology dsPIC33 series - Page 87

 2018 Microchip Technology Inc. DS70005340A-page 87
CAN FD Protocol Module
Table 9-1: Receive Message Object
Words Bits Bit 15/7 Bit 14/6 Bit 13/5 Bit 12/4 Bit 11/3 Bit 10/2 Bit 9/1 Bit 8/0
R0
15:8 EID<4:0> SID<10:8>
7:0 SID<7:0>
R1
15:8
— — SID11 EID<17:6>
7:0 EID<12:5>
R2
15:8 FILHIT<4:0>
-— -— ESI
7:0 FDF BRS RTR IDE DLC<3:0>
R3
15:8 — — — — — — — —
7:0
— — — — — — — —
R4
(2)
15:8 RXMSGTS<15:8>
7:0 RXMSGTS<7:0>
R5
(2)
15:8 RXMSGTS<31:24>
7:0 RXMSGTS<23:16>
R6
(1)
15:8 Receive Data Byte 1
7:0 Receive Data Byte 0
R7
(1)
15:8 Receive Data Byte 3
7:0 Receive Data Byte 2
R8
15:8 Receive Data Byte 5
7:0 Receive Data Byte 4
R9
15:8 Receive Data Byte 7
7:0 Receive Data Byte 6
Ri-1
15:8 Receive Data Byte n-2
7:0 Receive Data Byte n-3
Ri
15:8 Receive Data Byte n
7:0 Receive Data Byte n-1
bit 15-11 (R0) EID<4:0>: Extended Identifier bits
bit 10-0 (R0) SID<10:0>: Standard Identifier bits
bit 15-14 (R1) Unimplemented: Read as ‘x’
bit 13 (R1) SID11: In FD mode, the Standard ID can be extended to 12 bits using r1
bit 12-0 (R1) EID<17:5>: Extended Identifier bits
bit 15-11 (R2) FILHIT<4:0>: Filter Hit bits; hits the number of filters that matched
bit 10-9 (R2) Unimplemented: Read as ‘x’
bit 8 (R2) ESI: Error Status Indicator bit
In CAN to CAN Gateway mode (ESIGM = 1), the transmitted ESI flag is a “logical OR” of ESI (T1) and
the error passive state of the CAN controller.
In Normal mode, ESI indicates the error status:
1 = Transmitting node is error passive
0 = Transmitting node is error active
bit 7 (R2) FDF: FD Frame bit; distinguishes between CAN and CAN FD formats
bit 6 (R2) BRS: Bit Rate Switch bit; selects if Data Bit Rate is switched
bit 5 (R2) RTR: Remote Transmission Request bit; not used in CAN FD
bit 4 (R2) IDE: Identifier Extension bit; distinguishes between base and extended format
bit 3-0 (R2) DLC<3:0>: Data Length Code bits
bit 15:0 (R3) Unimplemented: Read as ‘x’
bit 15:0 (R4) RXMSGTS<15:0>: Receive Message Timestamp bits
bit 15:0 (R5) RXMSGTS<31:16>: Receive Message Timestamp bits
Note 1: Receive Message Object: Data Bytes 0-n; payload size is configured individually with the PLSIZE<2:0> bits.
2: R2 (RXMSGTSx) only exits in objects where RXTSEN is set.