Table of ContentsPreface1 Architecture1.1 CAN Overview1.1.1 Features1.1.2 Block Diagram1.1.3 eCAN Compatibility With Other TI CAN Modules1.2 The CAN Network and Module1.2.1 CAN Protocol Overview1.3 eCAN Controller Overview1.3.1 Standard CAN Controller (SCC) Mode1.3.2 Memory Map1.3.2.1 32-bit Access to Control and Status Registers1.3.3 eCAN Control and Status Registers1.4 Message Objects1.5 Message Mailbox1.5.1 Transmit Mailbox1.5.2 Receive Mailbox1.5.3 CAN Module Operation in Normal Configuration2 eCAN Registers2.1 Mailbox Enable Register (CANME)2.2 Mailbox-Direction Register (CANMD)2.3 Transmission-Request Set Register (CANTRS)2.4 Transmission-Request-Reset Register (CANTRR)2.5 Transmission-Acknowledge Register (CANTA)2.6 Abort-Acknowledge Register (CANAA)2.7 Received-Message-Pending Register (CANRMP)2.8 Received-Message-Lost Register (CANRML)2.9 Remote-Frame-Pending Register (CANRFP)2.9.1 Handling of Remote Frames2.10 Global Acceptance Mask Register (CANGAM)2.11 Master Control Register (CANMC)2.11.1 CAN Module Action in SUSPEND2.12 Bit-Timing Configuration Register (CANBTC)2.13 Error and Status Register (CANES)2.14 CAN Error Counter Registers (CANTEC/CANREC)2.15 Interrupt Registers2.15.1 Global Interrupt Flag Registers (CANGIF0/CANGIF1)2.15.2 Global Interrupt Mask Register (CANGIM)2.15.3 Mailbox Interrupt Mask Register (CANMIM)2.15.4 Mailbox Interrupt Level Register (CANMIL)2.16 Overwrite Protection Control Register (CANOPC)2.17 eCAN I/O Control Registers (CANTIOC, CANRIOC)2.18 Timer Management Unit2.18.1 Time Stamp Functions2.18.1.1 Time-Stamp Counter Register (CANTSC)2.18.1.2 Message Object Time Stamp Registers (MOTS)2.18.2 Time-Out Functions2.18.2.1 Message-Object Time-Out Registers (MOTO)2.18.2.2 Time-Out Control Register (CANTOC)2.18.2.3 Time-Out Status Register (CANTOS)2.18.3 Behavior/Usage of MTOF0/1 Bit in User Applications2.19 Mailbox Layout2.19.1 Message Identifier Register (MSGID)2.19.2 CPU Mailbox Access2.19.3 Message-Control Register (MSGCTRL)2.19.4 Message Data Registers (CANMDL, CANMDH)2.20 Acceptance Filter2.20.1 Local-Acceptance Masks (CANLAM)3 eCAN Configuration3.1 CAN Module Initialization3.1.1 CAN Bit-Timing Configuration3.1.2 CAN Bit Rate Calculation3.1.3 Bit Configuration Parameters for 75-MHz CAN Clock3.1.4 Bit Configuration Parameters for 50-MHz CAN Clock3.1.5 EALLOW Protection3.2 Steps to Configure eCAN3.2.1 Configuring a Mailbox for Transmit3.2.2 Transmitting a Message3.2.3 Configuring Mailboxes for Receive3.2.4 Receiving a Message3.2.5 Handling of Overload Situations3.3 Handling of Remote Frame Mailboxes3.3.1 Requesting Data From Another Node3.3.2 Answering a Remote Request3.3.3 Updating the Data Field3.4 Interrupts3.4.1 Interrupts Scheme3.4.2 Mailbox Interrupt3.4.3 Interrupt Handling3.4.3.1 Configuring for Interrupt Handling3.4.3.2 Handling Mailbox Interrupts3.4.3.3 Interrupt Handling Sequence3.5 CAN Power-Down Mode3.5.1 Entering and Exiting Local Power-Down Mode3.5.2 Precautions for Entering and Exiting Device Low-Power Modes (LPM)3.5.3 Enabling/Disabling Clock to the CAN Module3.5.4 Possible Failure Modes External to the CAN Controller ModuleTMS320F2833x, 2823xEnhanced Controller Area Network (eCAN)Reference GuideLiterature Number: SPRUEU1January 20092 SPRUEU1 – January 2009Submit Documentation FeedbackContentsPreface ............................................................................................................................... 71 Architecture ............................................................................................................... 91.1 CAN Overview .............................................................................................................. 101.1.1 Features ............................................................................................................ 101.1.2 Block Diagram ..................................................................................................... 111.1.3 eCAN Compatibility With Other TI CAN Modules ............................................................. 111.2 The CAN Network and Module ........................................................................................... 121.2.1 CAN Protocol Overview .......................................................................................... 121.3 eCAN Controller Overview ................................................................................................ 131.3.1 Standard CAN Controller (SCC) Mode ......................................................................... 141.3.2 Memory Map ....................................................................................................... 151.3.3 eCAN Control and Status Registers ............................................................................ 181.4 Message Objects ........................................................................................................... 191.5 Message Mailbox ........................................................................................................... 191.5.1 Transmit Mailbox .................................................................................................. 231.5.2 Receive Mailbox ................................................................................................... 241.5.3 CAN Module Operation in Normal Configuration.............................................................. 242 eCAN Registers ........................................................................................................ 252.1 Mailbox Enable Register (CANME) ...................................................................................... 262.2 Mailbox-Direction Register (CANMD) .................................................................................... 272.3 Transmission-Request Set Register (CANTRS) ....................................................................... 282.4 Transmission-Request-Reset Register (CANTRR) .................................................................... 292.5 Transmission-Acknowledge Register (CANTA) ........................................................................ 302.6 Abort-Acknowledge Register (CANAA) .................................................................................. 312.7 Received-Message-Pending Register (CANRMP)