LM3S5652 Datasheet, PDF (632/848 Pages) Texas Instruments – Stellaris® LM3S5652 Microcontroller

Controller Area Network (CAN) Module
tPhase1 = 4 * t_q
tPhase2 = 4 * t_q
\\tPhase1 = tPhase2
tTSeg1 = tProp + tPhase1
tTSeg1 = (1 * t_q) + (4 * t_q)
tTSeg1 = 5 * t_q
tTSeg2 = tPhase2
tTSeg2 = (Information Processing Time + 4) × t_q
tTSeg2 = 4 * t_q
\\Assumes IPT=0
tSJW = 4 * t_q
\\Least of 4, Phase1, and Phase2
TSEG2
TSEG1
SJW
BRP
= TSeg2 -1
= 4-1
=3
= TSeg1 -1
= 5-1
=4
= SJW -1
= 4-1
=3
= Baud rate prescaler - 1
= 50-1
=49
The final value programmed into the CANBIT register = 0x34F1.
16.4
Register Map
Table 16-4 on page 632 lists the registers. All addresses given are relative to the CAN base address
of:
■ CAN0: 0x4004.0000
Note that the CAN module clock must be enabled before the registers can be programmed (see
page 220). There must be a delay of 3 system clocks after the CAN module clock is enabled before
any CAN module registers are accessed.
Table 16-4. CAN Register Map
Offset Name
Type
0x000 CANCTL
R/W
0x004 CANSTS
R/W
0x008 CANERR
RO
0x00C CANBIT
R/W
0x010 CANINT
RO
0x014 CANTST
R/W
0x018 CANBRPE
R/W
Reset
0x0000.0001
0x0000.0000
0x0000.0000
0x0000.2301
0x0000.0000
0x0000.0000
0x0000.0000
Description
CAN Control
CAN Status
CAN Error Counter
CAN Bit Timing
CAN Interrupt
CAN Test
CAN Baud Rate Prescaler Extension
See
page
635
637
639
640
641
642
644
632
November 17, 2011
Texas Instruments-Production Data