If ATD module is enabled when the CPU encouters stop instruction or

cpu encounters wait instruction with atd stop in wait bit set,

ATD current consumption may be out of specification.



 

The ATD module should be disabled prior to entering stopmode.

 

When using the BDM constant clock source, i.e. CLKSW=0, with the PLL

engaged (PLLSEL=1) and a PLL frequency multiplication factor greater

than or equal to 2, the BDM can lose communication with the host system. 

Do not use the BDM constant clock source with the PLL engaged and a

frequency multiplication factor greater than or equal to 2. Set CLKSW=1

before engaging the PLL.

 

In master mode during a transmission SPI locks if SPE bit is cleared.

After re-enabling, writing to SPIDR does not result in message

transmission. 

Disable the SPI module only if transmission queue is empty (SPTEF=1) and

transfer is complete (SPIF=1). Add a delay of one SCK period after the

SPI interrupt flag is set (SPIF=1) before disabling the SPI.

 

The clock monitor failure assert frequency is f_CMFA=(max:100khz,

typ:50kHz, min:25kHz) and not as the specifed f_CMFA=(max:200khz,

typ:100kHz, min:50kHz).  

None.

Mode: 

-----

Dual Full H-Bridge



Defective Behavior:

-------------------

A) When an even duty cycle register is updated before the odd duty cycle

register is written and a pwm counter overflow occurs:



A1) An erroneous waveform may be generated on the even channel when

changing

the Sign bit in right, left and center aligned mode.



A2) An erroneous waveform may be generated on the even channel when  

changing the

duty cycle value "from" duty cycle 100% or changing the duty cycle value

"to" duty cycle 100% in right aligned mode.



A3) An erroneous waveform may be generated on the even channel when

changing the

duty cycle value  "from" duty cycle 0%   

                  "from" duty cycle 100%

                  "to"   duty cycle 0%

                  "to"   duty cycle 100% 

in center and left aligned mode.



B) When the register write to the odd duty cycle register is performed

at the same time the pwm cycle overflow occurs the effect of this write

operation to the even channel is ignored.





 

Workaround:

-----------

a) Update even and odd duty cycle registers just after a counter

   overflow has been detected by using the MCTOIF flag.



b) Restrict PWM operation to right aligned mode not using 100% duty 

   cycle and write odd channel duty cycle register twice.



c) Use 'full h-bridge mode' instead of 'dual full h-bridge mode'.



 

When recovering from the emergency shutdown mode by disasserting the

active level on the PWM emergency shutdown input pin and subsequently

asserting the PWMRSTRT bit, the enabled PWM channels do not hold the

shutdown output level (PWMLVL) until the corresponding counter passes

zero. This may result in a pulse of undefined length on enabled PWM

channels. 

None.

The slewrate of the motor controller outputs are seen to be 75ns typical

opposed to the typical specification value of 100ns. 

None.

When using the breakpoint in full mode, there is a chance of a false

match. Internally there 

is a separate read data bus and write data bus. When in full mode 

with the read/write match function is disabled, both buses are always 

compared to the contents of data match register. The circuit should only 

match the active bus on any particular bus cycle. The false match can 

occur if the address matches on a read cycle and matching data is on the 

write data bus or the address matches on a write cycle and the matching 

data is on the read data bus.

 

An SPI configured for slave mode operation can receive incorrect data.

If there are clock edges on SCK while SPE=0, and then SPE is set to one,

the received data will be incorrect. In CPHA=1 mode the SPI will

continue to receive incorrect data as long as SPE=1. 

Depending on the current SPI mode, the following bits must be configured

while disabling the SPI: 



- Set CPHA=1 and ensure that the CPOL-bit is clear every time the SPI is 

  disabled from slave mode. 

- Clear CPHA and ensure that CPOL is clear every time the SPI is

disabled      

  from master mode. 

The SPIF interrupt flag is erroneously set (and the SPI interrupt vector

is called if the SPIE interrupt enable bit is set) by the following

sequence of events: 



   1. Receive a byte of data with the SPI interface configured in slave 

      mode specifically with the CPHA and the CPOL bits set to 1. 

   2. Clear the SPIF interrupt flag bit in the SPISR status register by 

      reading the SPISR status register followed by a read of SPIDR data 

      register. 

   3. Disable the SPI module by clearing all bits in the SPICR1 control 

      register. 

   4. Re-enable the SPI module with the CPHA and the CPOL bits set to 1. 

1. Avoid configuring the SPI module with both the CPHA and CPOL bits

      set to 1.

OR

   2. To clear the erroneous SPIF interrupt flag, the following sequence

      must be followed:



   If no other interrupts are configured:



   Wait for a minimum of three bus cycles after re-enabling the SPI

   module, then clear the SPIF interrupt flag by dummy reading the SPISR

   status register followed by the SPIDR data register.



   If other interrupts are configured and enabled:



   1. Disable all interrupts by setting the interrupt mask bit of the

      condition code register (CCR). This can be accomplished by

      executing an SEI instruction.

   2. Re-enable the SPI module by setting the SPE, CPHA and CPOL bits in

      the SPICR1 control register. Wait for a minimum of three bus

      cycles after re-enabling the SPI module, then clear the SPIF

      interrupt flag by dummy reading the SPISR status register followed

      by the SPIDR data register.

   3. Re-enable all interrupts by clearing the interrupt mask bit of the

      CCR. This can be accomplished by executing a CLI instruction.



Notes on using workarounds:



   It is possible that a valid SPI interrupt condition may be masked and

   cleared during the erroneous setting and resetting of the SPIF

   interrupt flag if:



   1. The interrupt service routine of an XIRQ interrupt takes more time

      to execute than the time required to receive a byte of SPI data.

OR

   2. A valid byte of SPI data is received as the SPIF interrupt flag is

      being reset. 

 

The SPI locks if it is disabled in master mode with CPHA=1 in SPICR1 and

re-enabled in master mode with CPHA=1.

 









 

Make sure that CHPA is not set when SPI is disabled after a

transmission in master mode.



 

In expanded modes with the EMK emulate port k bit set and the EXSTR[1:0]

external access stretch bits 1 & 0 set to 01, 10 or 11 the

non-multiplexed addresses on PK[5:0] change during E clock high phase.



 

If the external access is stretched (EXSTR[1:0] set to 01, 10 or 11) off

chip address latches should be used to register the non-multiplexed

addresses on PK[5:0]. 

The SCI interrupt is only asserted if an odd number of interrupts

are enabled and set. 



For example, if a transmit data register empty and a receive ready

interrupt are active at the same time, the CPU interrupt request 

is not asserted. This can lead to missing interrupts or spurious

interrupts where the request gets deasserted before the CPU fetches the

interrupt vector. These spurious interrupts will be handled by 

direction via the SWI interrupt vector.



 

The problem is minimized by fast interrupt response times and slow

baud rates. Details of a workaround that greatly reduces the possibility

of this erratum occurring during the normal transmission and reception 

of SCI data can be found in Engineering Bulletin EB614 "SCI Interrupt

Errata Workaround for HCS12 Family Devices" at www.nxp.com.



1) Single wire operation - use a mixture of interrupt and polling



Use only the receive interrupt and move the first bytes of a message 

into the transmit queue using transmit data register empty flag 

polling. When a new byte is received and the receive interrupt is 

asserted, the transmit data buffer will be empty and a new byte can be 

written for transmission. 



2) Full duplex operation - use third interrupt method.



If the SCI interrupt is not asserted while a transmit or receive

interrupt is pending (because an even number of interrupts are pending),

the newly received byte will cause an overflow error and generate a

third interrupt. This will assert the CPU interrupt line as an odd

number of interrupts are now active. User software must detect the

overrun error and request a re-transmission of the last message frame.

Use care with this solution as one frame of data is lost and must be

recovered by user software. Flag bits should be polled at a frequency

directly proportional to the baud rate.

 

Flash cycling performance is 10 cycles at -40 to + 125C.

Data Retention is specified for 15 years.



Note that data retention lifetime is specified for an average

temperature use profile.



 

None.

EEPROM cycling performance is 10K cycles at -40 to +125C.

Data retention is specified for 5 years on words after executing 10K

cycles. However, if only 10 cycles are executed on a word, then data

retention is specified for 15 years.



Note that data retention lifetime is specified for an average

temperature use profile.







 

None.

If an SPI is enabled in slave mode with the CPHA bit set, all other bits

in their reset state, and SS/SCK pins driven low then clearing the CPHA

bit will cause the SPIF bit to be set three Bus Clock cycles after the

CPHA bit is cleared. 

Change of CPHA bit should only occur while SPI is disabled

(SPE bit cleared). 

For 32-bit and 16-bit identifier acceptance modes, an extended ID CAN

frame with a stuff bit between ID16 and ID15 can be erroneously

rejected, depending on IDAR0, IDAR1, and IDMR1.



Extended IDs (ID28-ID0) which generate a stuff bit between ID16 and

ID15:



 IDAR0    IDAR1    IDAR2    IDAR3 

******** ***1111x xxxxxxxx xxxxxxxx 



      where x = 0 or 1 (don't care) 

            * = pattern for ID28 to ID18 (see following)



Affected extended IDs (ID28 - ID18) patterns:



a) xxxxxxxxx01  exceptions: 01111100001 

                            xxxx1000001 except 11111000001 



b) xxxxx100000  exception:  01111100000 



c) xxxx0111111 



d) x0111110000 



e) 10000000000 



f) 11111111111 



g) 10000011111 



When an affected ID is received, an incorrect value is compared to the

2nd byte of the filter (IDAR1 and IDAR5, plus IDAR3 and IDAR7 in 16-bit

mode). This incorrect value is the shift register contents before ID15

is shifted in (i.e. right shifted by 1).

 

If the problematic IDs cannot be avoided, the workaround is to mask

certain bits with IDMR1 (and IDMR5, plus IDMR3 and IDMR7 in 16-bit

mode).



Example 1: to receive the message IDs 

xxxx xxxx x011 111x xxxx xxxx xxxx xxxx 

IDMR1 etc. must be 111x xxx1, i.e. ID20,19,18,15 must be masked. 



Example 2: to receive the message IDs 

xxxx 0111 1111 111x xxxx xxxx xxxx xxxx 

IDMR1 etc. must be 1xxx xxx1, i.e. ID20 and ID15 must be masked. 



In general, using IDMR1 etc. 1111 xxx1, i.e. masking ID20,19,18,SRR,15,

hides the problem. 

The SPIF interrupt flag is erroneously set and the SPI module locks-up

if the following sequence of events occur:



  1. Receive a byte of data with the SPI interface configured in slave 

     mode. 

  2. Clear the SPIF interrupt flag bit in the SPISR status register by 

     reading the SPISR status register followed by a read of SPIDR data  

     register. 

  3. Disable the SPI module by clearing all bits in the SPICR1 control 

     register except the CPHA (clock phase) bit (set SPICR1 to $04). 

  4. Start the SPI master mode enable sequence by first writing the SPICR1 

     control register to $08 (clearing the CPHA (clock phase) bit and 

     setting the CPOL (clock polarity) bit). At this point the SPIF 

     interrupt flag is erroneously set and the SPI module locks-up. 

Write the SPICR1 control register to $0C (CPHA (clock phase) and CPOL

(clock polarity) bits set) before writing the register to $08 during the

re-enable sequence. 

The reset conditions of the ECLK control logic in the MEBI 

inhibit the generation of 1 ECLK pulse during the reset 

vector fetch. This can prevent the external logic from 

latching the reset vector address. 

None.

Data can be placed into the SPI Data Register (SPIDR) even though the

SPTEF flag is cleared. The SPTEF flag indicates whether the transmit

buffer is empty (SPTEF=1) or full (SPTEF=0). Data can be placed into the

SPI Data Register by reading SPISR with SPTEF=1 followed by a write to

the SPI Data Register. If SPTEF=0, a write to the SPI Data Register

should be ignored, according to the SPI specification. This is not true

for the current implementation, where data can be placed into the SPI

Data Register though SPTEF=0. 

Do not write to the SPI Data Register until you have

read SPISR with SPTEF=1. 

If the Erase Verify ($05) command is issued on an array that is not

erased as indicated by the FSTAT/ESTAT BLANK bit not being set upon

command completion, the execution of the Sector Erase ($40) or Mass

Erase ($41) command will not properly erase the intended region. The

Program ($20) command will execute properly. 

If the Erase Verify ($05) command is issued on an array that is not

erased, subsequent Sector Erase ($40) or Mass Erase ($41) commands must

be issued twice before the intended region is properly erased. 

The specified MSCAN wake-up glitch filter pulse limits can be exceeded.

At low temp/high VDD the module may wake up from sleep mode on glitches

<2us while for pulses >5us it may not wake up from sleep mode at high

temp/low VDD.



The device operates at relaxed limits:



MSCAN Wake-up dominant pulse filtered: max. 1us

MSCAN Wake-up dominant pulse pass:     min. 7us

 

None.

The specified maximum pulse width limit of the key wake-up glitch filter

may be exceeded during high temperature and low supply voltage

conditions. The MCU may not wake from STOP mode on pulses slightly

greater than or equal to 10us.







 

The glitch filter now operates at a maximum pulse width limit of 14us.

Ensure that valid MCU wake pulses have a duration of at least 14us. 

In normal single chip mode, when security is enabled, it is not 

possible to launch the Program ($20), Sector-Erase ($40), Sector-Modify 

($60) and Erase-Verify ($05) commands in the EEPROM. The Mass-Erase 

($41) command can be launched. 

To enable the Program ($20), Sector-Erase ($40), Sector-Modify ($60) 

and Erase-Verify ($05) commands in the EEPROM, security must be 

disabled via the backdoor key sequence. See Flash User Guide for 

details of the backdoor key operation. 

In normal single chip mode, when security is enabled, it is not 

possible to launch the Program ($20), Sector-Erase ($40) and Erase-

Verify ($05) commands in the Flash. The Mass-Erase 

($41) command can be launched.

 

To enable the Program ($20), Sector-Erase ($40) and Erase-Verify ($05) 

commands in the flash, security must be disabled via the backdoor key 

sequence. See Flash User Guide for details of the backdoor key 

operation.

 

1. Operating (bus) frequencies <= 20MHz



- No change in operating spec i.e. 4.5V - 5.25V for 'C', "V" and "M" 

parts



2. Operating (bus) frequencies > 20MHz but <= 25MHz



- 'C' part, no change in operating spec i.e. 4.5V - 5.25V



- 'V' & 'M' parts, change of operating spec to 4.75V - 5.25V 

None.

Application pins in input mode show increased leakage up to 6uA

especially after stress and hot die temperature. 

None.

The self clock mode frequency, fSCM, can exceed the maximum specified

value. In this case the clock quality check will always fail for EXTAL

frequencies below 800kHz. This will affect three additional spec values.



1. The clock quality check may fail for EXTAL frequencies below 800kHz.

Therefore the crystal oscillator frequency range, fOSC, minimum value is

1.0MHz.



2. The PLL may not lock to the minimum specific PLL frequency of

8.0MHz. Therefore the VCO locking range, fVCO, minimum value is 12.0MHz.

This corresponds to a minimum 6.0MHz bus frequency (when using the PLL

as the source for the bus clock, PLLSEL = 1).



3. The clock quality check timeout minimum value is 0.25 seconds, not

0.45 seconds as previously stated in the documentation. The maximum

value is unaffected.



 

1. Only use quartz crystals, resonators or oscillators >= 1MHz. 

2. Only synthesize PLL frequencies (PLLCLK) from 12MHz to the maximum

specified value (i.e. only synthesize bus frequencies >= 6MHz).





 

When the SPI is enabled in master mode, with CPHA bit set, back to back

transmissions are possible.



When a transmission completes and a further byte is available in the SPI

Data Register, the second transmission begins direclty after "minimum

trailing time".



The problem occurs, when after the SPTEF flag has been set a further

byte is written into the SPI Data Register during the "1st pulse" of a

subsequent transmission.



                                            |--> next tx 

            7th pulse       8th pulse       1st pulse 

 SCK _______|^^^^^^^|_______|^^^^^^^|_______|^^^^^^^|_______



 SPTEF _____________________________________|^^|____|^^^^^^^^

                                            ^  ^    ^

                                            |  |    |

                                            |  |   SPTEF flag set again

                                            |  |   (WRONG)

                                            |  | 

                                            |  Write to SPIDR during

                                            |  "1st pulse"

                                            |

                                            End of tx SPTEF flag is

                                            set



Then the SPTEF flag is set at the falling SCK edge of the "1st

pulse" and data is transfered from the SPI Data Register to the transmit

shift register. The result is that the transmission is corrupted. 

 

After the SPTEF flag has been set, a delay of 1/2 SCK period has to be

added before storing data into the SPI Data Register.

 

For the flags SCF, ETORF and FIFOR in ATDSTAT0 it is specified that

writing a '1' to the respective flag clears it. This does not work.

Writing '1' to the respective flag has no effect. 



The ETORF flag is also set by a non-active edge, e.g. falling edge

trigger (ETRILE=0, ETRIGP=0). ETORF is set on both falling edges and

rising edges while conversion is in progress. 

SCF 

1. Use the alternative flag clearing mechanisms: 

        a. Write to ATDCTL5 (a new conversion sequence is started) 

        b. If AFFC=1 a result register is read 

ETORF 

1. Use the alternative flag clearing mechanisms: 

        a. Write to ATDCTL2, ATDCTL3 or ATDCTL4 (a conversion sequence

           is aborted) 

        b. Write to ATDCTL5 (a new conversion sequence is started) 

2. Avoid external trigger edges during conversion process by using short

pulses 

3. Ignore ETROF flag 



FIFOR 

1. Use the alternative flag clearing mechanism: 

        a. Start a new conversion sequence

           (write to ATDCTL5 or external trigger) 

When the SPI is in Mode Fault state (MODF flag set), according to the

specification, all SPI output buffers (SS, SCK, MOSI, MISO) should be

disabled. However, the MISO output buffer is not disabled. 

None.

GPIO or LCD funtionality is not controlled properly on Port L.



FPEN31 controls PL3 instead of PL7

FPEN30 controls PL2 instead of PL6

FPEN29 controls PL1 instead of PL5

FPEN28 controls PL0 instead of PL4

FPEN19 controls PL7 instead of PL3

FPEN18 controls PL6 instead of PL2

FPEN17 controls PL5 instead of PL1

FPEN16 controls PL4 instead of PL0



while the LCD outputs are routed correctly. 

If, for example, FPEN31 is set while FPEN19 is cleared, PL7 can be used

as GPIO via the Port L data and data direction registers, while at the

same time the lcd module trys to drive PL7. Erronous output function can 

occur in this case on PL7 as well as on other enabled LCD pins.   

To resolve conflicts, customers should use the same type of pin purpose

on the pin pairs PL7 and PL3, PL6 and PL2, PL5 and PL1 as well as

PL4 and PL0.

If an odd number of LCD pins is required by the application, it is

recommended to use Port L in an even fashion and use an odd number on

any other port with LCD shared.

On 112 pin parts, if any pin of PL3 .. PL0 are used for LCD the

corresponding FPEN31 .. FPEN28 should be set to clear PL3 .. PL0 for

LCD usage.



 

In SPI slave mode with CPHA set, MISO can change erroneously after a

transmission, two to three bus clock cycles after the sixteenth SCK

edge. This can lead to a hold time violation on the SPI master.





 

There are two possible workarounds for this problem: 



   1. Decrease the bus clock of the slave SPI to satisfy the "Master 

      MISO Hold Time". 

      Tbus(Slave) >= 0.5 * "Master MISO Hold Time"



   2. Software workaround: 

      The slave has to transmit a dummy byte after each data byte, 

      which must fulfil the following requirements: 



      - The first bit of the dummy byte to be transmitted (depending on 

        LSBFE bit) must be equal to the last bit of the data byte 

        transmitted before. The dummy byte has to be stored into SPIDR 

        during the transmission of the corresponding data byte. 

        => MISO does not change after the data byte.

 

      - The Master has to receive two bytes, the data byte and the dummy 

        byte.

        => Master receives the data byte correctly and has to skip the 

           dummy byte. 

If a write to ATDCTL5 happens at exactly the bus cycle when an ongoing

conversion sequence ends, the SCF, CCF and (if ASCIE=1)

ASCIF flags remain set and are NOT cleared by a write to ATDCTL5. 

1. Make sure the device is protected from interrupts (temporarily

disable interrupts with the I mask bit).

2. Write to ATDCTL5 twice. 

This Erratum applies only to systems where PLL is used to divide down

the osc_clock by a ratio between 2 and 3.



If



1) pll_clock (PLLON=1) is running

and

2) 2 < osc_clock/pll_clock < 3

and

3) full stop mode is entered (STOP instruction with PSTP Bit =0) 



there is a small possibility that when entering full stop mode the chip 

reacts as follows:

1) if self clock mode is disabled (SCME=0)  monitor reset is asserted.

   The system does NOT enter stop mode.

or

2) if self clode mode and SCM interrupt are enabled (SCME=1 and SCMIE=1)

   a self clock mode interrupt is generated. The SCMIF flag is set.

   The system does NOT enter stop mode.

or

3) if  SCME=1 and SCMIE=0 the system will enter full stop mode. 

   But after wakeup self clock mode is entered without doing the 

   specified clock quality check. The SCMIF flag is set. 

1) Avoid osc_clock/pll_clock ratios between 2 and 3.

or

2) if you really require osc_clock/pll_clock ratio between 2 and 3

do the following before going into stop.

a) deselect PLL (PLLSEL=0)

b) turn off PLL (PLLON=0)

c) enter stop

d) exiting stop: turn on PLL again (PLLON=1) 

Starting a command sequence with a MOVB array write instruction (Byte

Write) will not generate an access error. The command is processed

normally programming the array according to the content (word) of the

data register while only the high byte in the FDATA register holds valid

information.  

Avoid the use of MOVB instruction for array program operations.  

Starting a command sequence with a MOVB array write instruction (Byte

Write) will not generate an access error. The command is processed

normally programming the array according to the content (word) of the

data register while only the high byte in the FDATA register holds valid

information.  

Avoid the use of MOVB instruction for array program operations.  

If the Erase Verify ($05) command is issued on an array that is not

erased as indicated by the FSTAT/ESTAT BLANK bit not being set upon

command completion, the execution of the Sector Erase ($40) or Mass

Erase ($41) command will not properly erase the intended region. The

Program ($20) command will execute properly. 

If the Erase Verify ($05) command is issued on an array that is not

erased, subsequent Sector Erase ($40) or Mass Erase ($41) commands must

be issued twice before the intended region is properly erased. 

If the FCLKDIV flash clock divider register has been loaded, and the

flash is not executing a command (flash CCIF command complete flag is

set), the execution of a STOP instruction will erroneously set the

ACCERR access error bit in the FSTAT flash status register. 

The ACCERR bit in the FSTAT register must be cleared after the execution

of a STOP instruction if the FCLKDIV register has been loaded. 

If the ECLKDIV EEPROM clock divider register has been loaded, and the

EEPROM is not executing a command (EEPROM CCIF command complete flag is

set), the execution of a STOP instruction will erroneously set the

ACCERR access error bit in the ESTAT EEPROM status register. 

The ACCERR bit in the ESTAT register must be cleared after the execution

of a STOP instruction if the ECLKDIV register has been loaded. 

The setting of the CCF15-0 flags in ATDSTAT2/1 registers

is not independent of the clearing. 

A clear on CCFx (e.g. Bit AFFC=1 and read of ATDDRx)

which occurs in exactly the same bus cycle as the setting of any other

flag CCFy (x,y = 0,1,..,15; x!=y) masks the setting of CCFy.

CCFy will not set in this special case although the corresponding

conversion has completed and the result (ATDDRy) is valid. 

None.

Starting a new conversion by writing to the ATDCTL5 register should

clear all CCF flags in the ATDSTAT2/1 registers.

This does not always work if the write to ATDCTL5 register

occurs near the end of an ongoing conversion.

Although all CCF flags are cleared one CCF flag might be

set again within the 1st ATD clock period of the new conversion.

 

If the unexpected setting of one CCF flag can not be

accepted by the application one of the following

workarounds can be taken:

1) o Abort conversion (e.g. by write to ATDCTL3)

   o pause for 2 ATD clock periods

   o Start new conversion

2) o ignore first conversion sequence and clear CCF flags 

When the foreground receive buffer (RxFG) is read with the Receiver Full

Flag (RXF) set, the value of one or more data bytes may be incorrect due

to corruption after the message reception. The corruption can occur at

the end of a message transmission from any of the three transmit message

buffers of the same msCAN module. The affected data byte is overwritten

by a byte of the corrupting transmit buffer's Time Stamp Register, TSRH

for even, TSRL for odd addresses affected, respectively. The value

written is zero ($00) if the internal timer has not been enabled (TIME=0

in CANCTL0).



The corruption can only occur if all of the following three conditions

are met:



1. Rx and Tx message length relationship

If the number of data bytes transmitted, n, is five or less, Data

Segment Register (n+2) in RxFG is corrupted, i.e. DSR2 if n=0, .., DSR7

if n=5.

No corruption occurs for n > 5. Also, DSR0 and DSR1 are never affected.



2. Timing

A received message may contain corrupted data if RxFG is read after the

end of a message transmission from the same msCAN module.

No corruption is seen if all received messages are read within the time

window beginning when RXF is set and ending with the completion of

transmission of a subsequent message by the same msCAN module (the

'green window'). The width of the green window depends on many factors:

application software (Tx message scheduling, Rx/Tx interrupt priorities,

etc.), bus load, baud rate, and transmit message length. The minimum

(guaranteed) green window width is 376us for 125kbps, for example. This

minimum value occurs only in case of a transmit message following

back-to-back to the receive message, and for zero data bytes and zero

stuff bits. The green window width inversely scales with the baud rate.



3. Receive FIFO Buffer #

Only receive buffer 0 (Rx0) of the 5-stage FIFO can be affected.

At least four out of every five messages received are not affected. 

In affected systems where the lengths of messages can be adjusted, using

six or more bytes for transmission eliminates the issue completely.

Systems using an MCU with unused msCAN modules should use one to

transmit only and one to receive only, to completely avoid the issue.

For other systems the likelihood of problem occurrence can be further

reduced by maximizing the receive interrupt priority, i.e. use CAN0 for

the most critical bus in a multi-bus application, and/or promoting the

msCAN receive interrupt to highest priority using the HPRIO register.

In (control) systems where the signal representation can be adjusted,

and the time stamp is not used (TIME=0), mapping $00 to an 'illegal'

signal would allow problem detection and appropriate software means of

reaction.

In systems where all byte values are legal (e.g. data download),

checksums and/or parities can be used to signal problem occurrence and

allow for proper handling (e.g. request for retransmission).

Alternatively, the use of data filter algorithms may suppress or at

least reduce the effect of the problem. 

When the foreground receive buffer (RxFG) is read, with the Receiver

Full Flag (RXF) set, the value of the Time Stamp Register may be

incorrect due to corruption. The Time Stamp Register is written

correctly when the message is received, but may be overwritten by the

timer value at the end of a subsequent reception. The corruption can

only occur close to a data overrun, when the receive buffer FIFO is

full.



The problem occurs whenever the following two conditions are met: 



1. Receive buffer system is full 

All five receive buffers contain valid messages waiting to be read by

the application. 



2. Another valid message is seen on the bus. This message must be sent

from another node, i.e. it must not be transmitted from the respective

msCAN module itself. 



At the end of the message in 2. the Time Stamp Register of the oldest

message in the receive FIFO is overwritten. 



Note: if the message in 2. passes the message filter system the Overrun

Interrupt Flag (OVRIF) is also set. 

The application software has to ensure to read the receive messages in

due time to avoid data overrun in any case. This will automatically

minimize the risk of a Time Stamp Register overwrite event. 

If a particular error condition occurs within the end of frame segment

(EOF) of a CAN message, the msCAN module recognises and accepts a

non-valid message as being valid, contrary to the CAN specification. The

msCAN module incorrectly validates messages after five recessive bits of

the end of frame instead of after six bits. If a bus error occurs during

the sixth bit of end of frame, the msCAN module will already have

accepted the message as valid, even although an error frame is

transmitted and the receive error counter is incremented.



The CAN protocol states that message validation differs between bus

transmitter and receiver devices (refer to part B, section 5 of CAN

protocol for details). In the case where the 7th bit of the EOF segment

is dominant, the message is valid for the receiver but not for the

transmitter. This erratum extends this case to the 6th bit of the EOF

segment. 

This erratum will not be an issue if the application software is

protected against the known double receive problem of the CAN protocol.

This problem occurs when a message is not recognised as valid by the

transmitter, but is recognised as valid by a receiver, as described

above. When this happens, the message is re-transmitted and hence the

receiver will receive the same message twice. 

Upon leaving BDM active mode, the CPU return address is stored

temporarily for a few cycles in the BDM shift register. If a BDM command

transmission is detected during this time, the return address will be

manipulated in the BDM shift register. This situation is likely to occur

when a CPU BGND instruction is executed in user code during debugging

under the following conditions:



(i) The BDM module is not enabled AND

(ii) BDM commands are sent from the host



If this situation occurs, the CPU will execute BDM firmware and will

check the status of the ENBDM bit in the BDMSTS register. If the BDM is

disabled, the ENBDM bit will be clear, and hence the BDM firmware will

be exited and the shift register manipulation described above will occur. 

Avoid using the BGND instruction when the ENBDM bit in the BDMSTS

register is cleared. 

If the ECLK is used as an external bus control signal (ESTR=1) the first

external access is lost after switching from a single chip mode with

enabled ECLK output to an expanded mode. The ECLK is erroneously held in

the high phase thus the first external bus access does not generate a

rising ECLK edge for the external logic to latch the address. The ECLK

stretches low after the lost access resulting in all following external

accesses to be valid. 

Enter expanded mode with ECLK output disabled (NECLK=1). Enable the ECLK

after switching the mode before executing the first external access. 

At oscillator frequencies above 4MHz the Program step of the EEPROM

Sector-Modify command can fail depending on the bus frequency. As a

result, no programming of the EEPROM occurs. There is no impact to the

Erase step of the Sector-Modify command. Since a partial programming of

the word cannot occur, there is not a reliability issue caused by the

Sector-Modify command if the programmed word is verified.

 

   Oscillator             Bus

   Frequency           Frequency

   ----------    ----------------------

     4MHz             No Issue

     8MHz        Fbus <20MHz : No issue

    16MHz        Fbus <16MHz : No issue





 

Use seperate Erase and Program commands in place of the Sector-Modify

command. If the Sector-Modify command is used and fails the program step

as confirmed by a user verification step, a Program command alone can be

used to effectively complete the operation since the erase step does

successfully erase the sector. 

The initial eight ID bits will be corrupted if a message is set up for

transmission during the third bit of INTERMISSION and a dominant bit is

sampled leading to an early-SOF*.



The CRC is calculated from the resulting bit stream so that the

receiving nodes will still validate the message.



An early-SOF condition may only occur if the oscillators in the network

operate at a tolerance range which could lead to a cumulated phase error

after 11 bit times larger than phase segment 2. 



In case arbitration is lost during transmission of the corrupt

identifier, a non-corrupted ID will be sent with the next attempt if the

transmit request remains active.



*The CAN protocol condition referred to as 'early-SOF' in this erratum

is detailed in "Bosch CAN Specification Version 2.0" Part A, section 9,

and a Note to section 3.2.5 INTERFRAME SPACING – INTERMISSION in Part B. 

Due to increased oscillator tolerance a transmission start in the third

bit of intermission is possible and allowed. The errata can be avoided

when calculating the maximum oscillator tolerance of the overall CAN

system. The phase error after 11 bit times due to the oscillator

tolerance should be smaller than phase segment 2.



If an early-SOF cannot be avoided the following methods will provide

prevention:



- Assigning the same value to all upper eight ID bits in the network

- Allocating dedicated data length codes (DLC) to every identifier used 

  in the network and checking for correspondence after reception

- Assigning only IDs (x) which do not consist of a combination of other 

  assigned IDs (y,z) and using the acceptance filters to reject 

  erroneous messages, i.e. 

  - for standard frames: IDx[11:0]  != {IDy[11:3], IDz[2:0]}

  - for extended frames: IDx[28:21] != {IDy[28:21],IDz[20:0]} 

If the PWM emergency shutdown feature is enabled (PWM5ENA=1) and PWM

channel 5 is disabled (PWME5=0) another lower priority function

available on the related pin can take control over the data direction.

This does not lead to a problem if input mode is maintained. If the

alternative function switches to output mode the shutdown function may

unintentionally be triggered by the output data.



 

When using the PWM emergency shutdown feature the GPIO function on the

pin associated with PWM channel 5 should be selected as an input. 



In the case that this pin is selected as an output or where an

alternative function is enabled which could drive it as an output,

enable PWM channel 5 by setting the PWME5 bit. This prevents an

active shutdown level driven on the (output) pin from resulting in an

emergency shutdown of the enabled PWM channels.



 

When an OC7M bit is set, an erroneous normal output compare event can 

happen on a timer port if the compare action is selected as "Timer 

disconnected from output pin logic ".

 

Corresponding configuration:

*  TIOSx = 1 --> Output compare mode

*  OMx = OLx = 0 --> Output compare logic disconnected from the pin

*  OC7Mx = 1 --> Mask bit set for OC7 event











 

Set OC7Mx = 1 only for channels where the output compare action should 

drive the pin, and OC7Mx = 0 for all other channels where the pin is 

required to be disconnected from the output compare logic. 

The pulse width of an output compare (which resets the free running

counter when TCRE = 1) will measure one more bus clock cycle than 

expected. 



 

The specification has been updated. Please refer to revision 01.09 (07

May 2010) or later.



In description of bitfield TCRE in register TSCR2,a note has been added:

TCRE=1 and TC7!=0, the TCNT cycle period will be TC7 x "prescaler

counter width" + "1 Bus Clock". When TCRE is set and TC7 is not equal to

0, then TCNT will cycle from 0 to TC7. When TCNT reaches TC7 value, it

will last only one bus cycle then reset to 0.











 

When the PWM is used in 16-bit (concatenation) channel and the 

emergency

shutdown feature is being used, after de-asserting PWM channel 5

(note:PWMRSTRT should be set) the PWM channels (PP0-PP4) do not show 

the

state which is set by PWMLVL bit when the 16-bit counter is non-zero. 



 

None. 

In low power modes (stop/p-stop/wait ?PSWAI=1) and during PWM PP5

de-assert and when PWM counter reaching 0, the PWM channel outputs

(PP0-PP4) cannot keep the state which is set by PWMLVL bit.  





 

None.