Commit 51cafcd4 authored by Ille, Ondrej, Ing.'s avatar Ille, Ondrej, Ing.

doc: Describe behaviour of COMMAND[ERCRST].

parent 068ff84a
......@@ -2150,8 +2150,9 @@ name "fig:CTU-CAN-FD-operating-modes"
\begin_layout Standard
When CTU CAN FD is error active, it takes part in CAN bus communication.
If CTU CAN FD becomes error passive and later bus-off, it stops any communicati
on on CAN bus and waits before starting Reintegration until it receives
Error counter reset command (writing logic 1 to COMMAND[ERCRST]).
on on CAN bus (error frame which caused transition to bus off is still transmitt
ed) and waits before starting Reintegration until it receives Error counter
reset command (writing logic 1 to COMMAND[ERCRST]).
Upon this command, CTU CAN FD starts Reintegration.
Reintegration lasts until CTU CAN FD detects 128 sequences of 11 consecutive
recessive bits.
......@@ -2181,6 +2182,24 @@ noprefix "false"
).
\end_layout
\begin_layout Description
Note COMMAND[ERCRST] is
\begin_inset Quotes eld
\end_inset
sticky
\begin_inset Quotes erd
\end_inset
.
This means that if CTU CAN FD is not yet bus off and this command is issued,
it will be remembered by CTU CAN FD and it will automatically start reintegrati
on upon nearest transition to bus-off.
This gives an advantage that command can be issued in advance during communicat
ion and CTU CAN FD will re-integrate as quickly as possible after becoming
bus off.
\end_layout
\begin_layout Section
CAN bus configuration
\begin_inset CommandInset label
......
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