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I just noticed something while trying to configure the
F2812's enhanced CAN port. According to the eCAN Reference
Guide (SPRU074F), page 68, you must put the CAN peripheral
in the 'initialization' mode before touching the
configuration registers, and must return it to 'normal'
mode before using it.
I have a some sample code that enters 'initialization' mode
by clearing the CCR bit in CANMC, and then monitoring CCE in
the CANES register until it goes low. Return to 'normal'
involves the opposite operation.
But there is a note on the bottom of page 68 that indicates
that if the bus has a stuck-at-dominant bus error, the
controller can never switch states in either direction. I
interpret this to mean that if I naively copy this
initialization routine and the user shorts out the CAN bus
on one of my systems (a permanent 'stuck-at-dominant'
state), it will hang my application in the initialization
state, turning it into a multi-k$ doorstop.
Anyone have first-hand experience with this?
