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SPRUI07–March 2020
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Copyright © 2020, Texas Instruments Incorporated
Contents
12.15.4 Serial Port Control Registers (SPCR[1,2]) ................................................................. 748
12.15.5 Receive Control Registers (RCR[1, 2]) .................................................................... 753
12.15.6 Transmit Control Registers (XCR1 and XCR2) ........................................................... 755
12.15.7 Sample Rate Generator Registers (SRGR1 and SRGR2)............................................... 758
12.15.8 Multichannel Control Registers (MCR[1,2])................................................................ 760
12.15.9 Pin Control Register (PCR) .................................................................................. 765
12.15.10 Receive Channel Enable Registers (RCERA, RCERB, RCERC, RCERD, RCERE, RCERF,
RCERG, RCERH) ............................................................................................... 767
12.15.11 Transmit Channel Enable Registers (XCERA, XCERB, XCERC, XCERD, XCERE, XCERF,
XCERG, XCERH)................................................................................................ 769
12.15.12 XCERs Used in a Transmit Multichannel Selection Mode ............................................. 770
12.15.13 McBSP Interrupt Enable Register ......................................................................... 771
12.16 Register to Driverlib Function Mapping................................................................................ 772
13 Controller Area Network (CAN)........................................................................................... 773
13.1 CAN Overview............................................................................................................. 774
13.1.1 Features.......................................................................................................... 774
13.1.2 Block Diagram................................................................................................... 774
13.2 eCAN Compatibility With Other TI CAN Modules .................................................................... 775
13.3 The CAN Network and Module ......................................................................................... 776
13.3.1 CAN Protocol Overview........................................................................................ 776
13.4 eCAN Controller Overview............................................................................................... 778
13.4.1 Standard CAN Controller (SCC) Mode ...................................................................... 778
13.4.2 Memory Map .................................................................................................... 779
13.5 Message Objects ......................................................................................................... 782
13.6 Message Mailbox ......................................................................................................... 782
13.6.1 Transmit Mailbox................................................................................................ 786
13.6.2 Receive Mailbox ................................................................................................ 787
13.6.3 CAN Module Operation in Normal Configuration........................................................... 787
13.7 eCAN Configuration ...................................................................................................... 787
13.7.1 CAN Module Initialization...................................................................................... 787
13.7.2 Steps to Configure eCAN...................................................................................... 791
13.7.3 Handling of Remote Frame Mailboxes....................................................................... 793
13.7.4 Interrupts......................................................................................................... 794
13.7.5 CAN Power-Down Mode....................................................................................... 799
13.8 eCAN Registers........................................................................................................... 801
13.8.1 Mailbox Enable Register (CANME) .......................................................................... 801
13.8.2 Mailbox-Direction Register (CANMD) ........................................................................ 802
13.8.3 Transmission-Request Set Register (CANTRS)............................................................ 803
13.8.4 Transmission-Request-Reset Register (CANTRR)......................................................... 804
13.8.5 Transmission-Acknowledge Register (CANTA)............................................................. 804
13.8.6 Abort-Acknowledge Register (CANAA) ...................................................................... 805
13.8.7 Received-Message-Pending Register (CANRMP) ......................................................... 805
13.8.8 Received-Message-Lost Register (CANRML) .............................................................. 806
13.8.9 Remote-Frame-Pending Register (CANRFP)............................................................... 806
13.8.10 Global Acceptance Mask Register (CANGAM) ........................................................... 808
13.8.11 Master Control Register (CANMC).......................................................................... 809
13.8.12 Bit-Timing Configuration Register (CANBTC) ............................................................. 812
13.8.13 Error and Status Register (CANES) ........................................................................ 814
13.8.14 CAN Error Counter Registers (CANTEC/CANREC)...................................................... 816
13.8.15 Interrupt Registers ............................................................................................ 817
13.8.16 Overwrite Protection Control Register (CANOPC)........................................................ 822
13.8.17 eCAN I/O Control Registers (CANTIOC, CANRIOC)..................................................... 823
13.8.18 Timer Management Unit...................................................................................... 825
13.8.19 Mailbox Layout ................................................................................................ 829
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