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SPRUI07–March 2020
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Copyright © 2020, Texas Instruments Incorporated
Controller Area Network (CAN)
Chapter 13
SPRUI07–March 2020
Controller Area Network (CAN)
The enhanced Controller Area Network (eCAN) module is a full-CAN controller and is compatible with the
CAN 2.0B standard (active). It uses established protocol to communicate serially with other controllers in
electrically noisy environments. With 32 fully configurable mailboxes and a time−stamping feature, the
eCAN module provides a versatile and robust serial communication interface. Refer to theC2000 Real-
Time Control Peripheral Reference Guide for a list of devices with the eCAN module. Some devices have
a second CAN module, eCAN-B. The word eCAN is generically used to refer to the CAN modules. The
specific module reference (A or B) is used where appropriate. For a given eCAN module, the same
address space is used for the module registers in all applicable 28xx /28xxx devices. Refer to
Programming Examples for the TMS320x28xx eCAN that provides many useful examples that illustrate
how to program the eCAN module.
Topic ........................................................................................................................... Page
13.1 CAN Overview.................................................................................................. 774
13.2 eCAN Compatibility With Other TI CAN Modules .................................................. 775
13.3 The CAN Network and Module............................................................................ 776
13.4 eCAN Controller Overview................................................................................. 778
13.5 Message Objects .............................................................................................. 782
13.6 Message Mailbox.............................................................................................. 782
13.7 eCAN Configuration.......................................................................................... 787
13.8 eCAN Registers................................................................................................ 801
13.9 Message Data Registers (CANMDL, CANMDH) ..................................................... 831
13.10 Acceptance Filter ............................................................................................ 832
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