Datasheet

MC9S12XE-Family Reference Manual Rev. 1.25
Freescale Semiconductor 605
Chapter 16
Freescale’s Scalable Controller Area Network
(S12MSCANV3)
16.1 Introduction
Freescale’s scalable controller area network (S12MSCANV3) definition is based on the MSCAN12
definition, which is the specific implementation of the MSCAN concept targeted for the S12, S12X and
S12Z microcontroller families.
The module is a communication controller implementing the CAN 2.0A/B protocol as defined in the
Bosch specification dated September 1991. For users to fully understand the MSCAN specification, it is
recommended that the Bosch specification be read first to familiarize the reader with the terms and
concepts contained within this document.
Though not exclusively intended for automotive applications, CAN protocol is designed to meet the
specific requirements of a vehicle serial data bus: real-time processing, reliable operation in the EMI
environment of a vehicle, cost-effectiveness, and required bandwidth.
MSCAN uses an advanced buffer arrangement resulting in predictable real-time behavior and simplified
application software.
Table 16-1. Revision History
Revision
Number
Revision Date
Sections
Affected
Description of Changes
V03.13 03 Mar 2011 Figure 16-4
Table 16-3
• Corrected CANE write restrictions
• Removed footnote from RXFRM bit
V03.14 12 Nov 2012 Table 16-11 • Corrected RxWRN and TxWRN threshold values
V03.15 12 Jan 2013 Table 16-3
Table 16-26
Figure 16-37
16.1/16-605
16.3.2.15/16-
626
• Updated TIME bit description
• Added register names to buffer map
• Updated TSRH and TSRL read conditions
• Updated introduction
• Updated CANTXERR and CANRXERR register notes