Texas Instruments TMS570LC4357 - Page 20

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20
SPNU563A–March 2018
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Copyright © 2018, Texas Instruments Incorporated
Contents
26.2.14 Interrupts...................................................................................................... 1269
26.2.15 Minimum Peripheral Clock Frequency .................................................................... 1274
26.2.16 Assignment of FlexRay Configuration Parameters...................................................... 1275
26.2.17 Emulation/Debug Support .................................................................................. 1276
26.3 FlexRay Module Registers ............................................................................................. 1277
26.3.1 Transfer Unit Registers....................................................................................... 1277
26.3.2 Communication Controller Registers ....................................................................... 1325
27 Controller Area Network (DCAN) Module............................................................................ 1417
27.1 Overview.................................................................................................................. 1418
27.1.1 Features ........................................................................................................ 1418
27.1.2 Functional Description........................................................................................ 1418
27.2 CAN Blocks .............................................................................................................. 1419
27.2.1 CAN Core ...................................................................................................... 1419
27.2.2 Message RAM................................................................................................. 1419
27.2.3 Message Handler ............................................................................................. 1419
27.2.4 Message RAM Interface...................................................................................... 1420
27.2.5 Register and Message Object Access ..................................................................... 1420
27.2.6 Dual Clock Source ............................................................................................ 1420
27.3 CAN Bit Timing .......................................................................................................... 1421
27.3.1 Bit Time and Bit Rate ......................................................................................... 1421
27.3.2 DCAN Bit Timing Registers .................................................................................. 1423
27.4 CAN Module Configuration............................................................................................. 1425
27.4.1 DCAN RAM Initialization Through Hardware .............................................................. 1425
27.4.2 CAN Module Initialization .................................................................................... 1425
27.5 Message RAM ........................................................................................................... 1428
27.5.1 Structure of Message Objects ............................................................................... 1428
27.5.2 Addressing Message Objects in RAM...................................................................... 1430
27.5.3 Message RAM Representation in Debug/Suspend Mode ............................................... 1431
27.5.4 Message RAM Representation in Direct Access Mode .................................................. 1431
27.5.5 ECC RAM ...................................................................................................... 1432
27.6 Message Interface Register Sets ..................................................................................... 1433
27.6.1 Message Interface Register Sets 1 and 2 ................................................................. 1433
27.6.2 Using Message Interface Register Sets 1 and 2.......................................................... 1434
27.6.3 Message Interface Register 3 ............................................................................... 1435
27.7 Message Object Configurations ....................................................................................... 1436
27.7.1 Configuration of a Transmit Object for Data Frames ..................................................... 1436
27.7.2 Configuration of a Transmit Object for Remote Frames ................................................. 1436
27.7.3 Configuration of a Single Receive Object for Data Frames ............................................. 1436
27.7.4 Configuration of a Single Receive Object for Remote Frames.......................................... 1437
27.7.5 Configuration of a FIFO Buffer .............................................................................. 1437
27.7.6 Reconfiguration of Message Objects for the Reception of Frames..................................... 1437
27.7.7 Reconfiguration of Message Objects for the Transmission of Frames................................. 1437
27.8 Message Handling ...................................................................................................... 1438
27.8.1 Message Handler Overview ................................................................................. 1438
27.8.2 Receive/Transmit Priority..................................................................................... 1438
27.8.3 Transmission of Messages in Event Driven CAN Communication ..................................... 1439
27.8.4 Updating a Transmit Object.................................................................................. 1439
27.8.5 Changing a Transmit Object................................................................................. 1439
27.8.6 Acceptance Filtering of Received Messages .............................................................. 1440
27.8.7 Reception of Data Frames ................................................................................... 1440
27.8.8 Reception of Remote Frames .............................................................................. 1440
27.8.9 Reading Received Messages ............................................................................... 1440
27.8.10 Requesting New Data for a Receive Object............................................................. 1441