LM3S9B81 Datasheet, PDF (752/1155 Pages) Texas Instruments – Stellaris® LM3S9B81 Microcontroller

Controller Area Network (CAN) Module
18.1
18.2
Block Diagram
Figure 18-1. CAN Controller Block Diagram
APB Pins
APB
Interface
CAN Control
CANCTL
CANSTS
CANERR
CANBIT
CANINT
CANTST
CANBRPE
CAN Interface 1
CANIF1CRQ
CANIF1CMSK
CANIF1MSK1
CANIF1MSK2
CANIF1ARB1
CANIF1ARB2
CANIF1MCTL
CANIF1DA1
CANIF1DA2
CANIF1DB1
CANIF1DB2
CAN Interface 2
CANIF2CRQ
CANIF2CMSK
CANIF2MSK1
CANIF2MSK2
CANIF2ARB1
CANIF2ARB2
CANIF2MCTL
CANIF2DA1
CANIF2DA2
CANIF2DB1
CANIF2DB2
CAN Core
CAN Tx
CAN Rx
Message Object
Registers
CANTXRQ1
CANTXRQ2
CANNWDA1
CANNWDA2
CANMSG1INT
CANMSG2INT
CANMSG1VAL
CANMSG2VAL
Message RAM
32 Message Objects
Signal Description
Table 18-1 on page 753 and Table 18-2 on page 753 list the external signals of the CAN controller
and describe the function of each. The CAN controller signals are alternate functions for some GPIO
signals and default to be GPIO signals at reset. The column in the table below titled "Pin Mux/Pin
Assignment" lists the possible GPIO pin placements for the CAN signals. The AFSEL bit in the GPIO
Alternate Function Select (GPIOAFSEL) register (page 318) should be set to choose the CAN
controller function. The number in parentheses is the encoding that must be programmed into the
PMCn field in the GPIO Port Control (GPIOPCTL) register (page 336) to assign the CAN signal to
the specified GPIO port pin. For more information on configuring GPIOs, see “General-Purpose
Input/Outputs (GPIOs)” on page 294.
752
June 29, 2010
Texas Instruments-Advance Information