LM3S5P36 Datasheet, PDF (741/1050 Pages) Texas Instruments – Stellaris® LM3S5P36 Microcontroller

Stellaris^® LM3S5P36 Microcontroller
Table 16-1. Controller Area Network Signals (64LQFP)
Pin Name
Pin Number Pin Mux / Pin Pin Type Buffer Type^a Description
Assignment
CAN0Rx
21
PA4 (5)
I
25
PA6 (6)
58
PB4 (5)
61
PD0 (2)
TTL
CAN module 0 receive.
CAN0Tx
22
PA5 (5)
O
26
PA7 (6)
57
PB5 (5)
62
PD1 (2)
TTL
CAN module 0 transmit.
a. The TTL designation indicates the pin has TTL-compatible voltage levels.
16.3 Functional Description
The Stellaris CAN controller conforms to the CAN protocol version 2.0 (parts A and B). Message
transfers that include data, remote, error, and overload frames with an 11-bit identifier (standard)
or a 29-bit identifier (extended) are supported. Transfer rates can be programmed up to 1 Mbps.
The CAN module consists of three major parts:
■ CAN protocol controller and message handler
■ Message memory
■ CAN register interface
A data frame contains data for transmission, whereas a remote frame contains no data and is used
to request the transmission of a specific message object. The CAN data/remote frame is constructed
as shown in Figure 16-2.
Figure 16-2. CAN Data/Remote Frame
Start
Of Frame
Remote
Transmission
Request
Delimiter
Bits
Bus
Idle
S
O
F
Message Delimiter
R
T
R
Control
Field
Data Field
CRC
A
Sequence ^C
K
EOP IFS ^Bus
Idle
Number ₁
Of Bits
11 or 29
16
0 . . . 64
15 1 1 1
7
3
Arbitration Field
CRC Sequence
CRC
Field
End of
Frame
Field
Interframe
Field
Bit Stuffing
CAN Data Frame
Acknowledgement
Field
January 21, 2012
741
Texas Instruments-Production Data