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| LM3S5C36 Datasheet, PDF (768/1068 Pages) Texas Instruments – Stellaris® LM3S5C36 Microcontroller | |||
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Controller Area Network (CAN) Module
tTSeg1 = tProp + tPhase1
tTSeg1 = (1 * tq) + (4 * tq)
tTSeg1 = 5 * tq
tTSeg2 = tPhase2
tTSeg2 = (Information Processing Time + 4) Ã tq
tTSeg2 = 4 * tq
\\Assumes IPT=0
tSJW = 4 * tq
\\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 16-5 on page 768 lists the registers. All addresses given are relative to the CAN base address
of:
â CAN0: 0x4004.0000
Note that the CAN controller clock must be enabled before the registers can be programmed (see
page 250). There must be a delay of 3 system clocks after the CAN module clock is enabled before
any CAN module registers are accessed.
Table 16-5. 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
0x020 CANIF1CRQ
R/W
0x024 CANIF1CMSK
R/W
Reset
0x0000.0001
0x0000.0000
0x0000.0000
0x0000.2301
0x0000.0000
0x0000.0000
0x0000.0000
0x0000.0001
0x0000.0000
Description
CAN Control
CAN Status
CAN Error Counter
CAN Bit Timing
CAN Interrupt
CAN Test
CAN Baud Rate Prescaler Extension
CAN IF1 Command Request
CAN IF1 Command Mask
See
page
770
772
775
776
777
778
780
781
782
768
January 23, 2012
Texas Instruments-Production Data
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