Datasheet

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25.5.14 GIO Data Set Registers (GIODSET[A-B]) ................................................................ 1139
25.5.15 GIO Data Clear Registers (GIODCLR[A-B]) ............................................................. 1140
25.5.16 GIO Open Drain Registers (GIOPDR[A-B]) .............................................................. 1140
25.5.17 GIO Pull Disable Registers (GIOPULDIS[A-B]).......................................................... 1141
25.5.18 GIO Pull Select Registers (GIOPSL[A-B])................................................................ 1141
25.6 I/O Control Summary ................................................................................................... 1142
26 Controller Area Network (DCAN) Module............................................................................ 1143
26.1 Overview.................................................................................................................. 1144
26.1.1 Features ........................................................................................................ 1144
26.1.2 Functional Description ........................................................................................ 1144
26.2 CAN Blocks .............................................................................................................. 1145
26.2.1 CAN Core ...................................................................................................... 1145
26.2.2 Message RAM ................................................................................................. 1145
26.2.3 Message Handler ............................................................................................. 1145
26.2.4 Message RAM Interface...................................................................................... 1146
26.2.5 Register and Message Object Access ..................................................................... 1146
26.2.6 Dual Clock Source ............................................................................................ 1146
26.3 CAN Bit Timing .......................................................................................................... 1147
26.3.1 Bit Time and Bit Rate ......................................................................................... 1147
26.3.2 DCAN Bit Timing Registers .................................................................................. 1149
26.4 CAN Module Configuration............................................................................................. 1151
26.4.1 DCAN RAM Initialization Through Hardware .............................................................. 1151
26.4.2 CAN Module Initialization .................................................................................... 1151
26.5 Message RAM ........................................................................................................... 1154
26.5.1 Structure of Message Objects ............................................................................... 1154
26.5.2 Addressing Message Objects in RAM...................................................................... 1156
26.5.3 Message RAM Representation in Debug/Suspend Mode ............................................... 1157
26.5.4 Message RAM Representation in Direct Access Mode .................................................. 1157
26.5.5 ECC RAM ...................................................................................................... 1158
26.6 Message Interface Register Sets ..................................................................................... 1159
26.6.1 Message Interface Register Sets 1 and 2 ................................................................. 1159
26.6.2 Using Message Interface Register Sets 1 and 2.......................................................... 1160
26.6.3 Message Interface Register 3 ............................................................................... 1161
26.7 Message Object Configurations ....................................................................................... 1162
26.7.1 Configuration of a Transmit Object for Data Frames ..................................................... 1162
26.7.2 Configuration of a Transmit Object for Remote Frames ................................................. 1162
26.7.3 Configuration of a Single Receive Object for Data Frames ............................................. 1162
26.7.4 Configuration of a Single Receive Object for Remote Frames.......................................... 1163
26.7.5 Configuration of a FIFO Buffer .............................................................................. 1163
26.7.6 Reconfiguration of Message Objects for the Reception of Frames..................................... 1163
26.7.7 Reconfiguration of Message Objects for the Reception of Frames..................................... 1163
26.8 Message Handling ...................................................................................................... 1164
26.8.1 Message Handler Overview ................................................................................. 1164
26.8.2 Receive/Transmit Priority..................................................................................... 1164
26.8.3 Transmission of Messages in Event Driven CAN Communication ..................................... 1165
26.8.4 Updating a Transmit Object.................................................................................. 1165
26.8.5 Changing a Transmit Object ................................................................................. 1165
26.8.6 Acceptance Filtering of Received Messages .............................................................. 1166
26.8.7 Reception of Data Frames ................................................................................... 1166
26.8.8 Reception of Remote Frames .............................................................................. 1166
26.8.9 Reading Received Messages ............................................................................... 1166
26.8.10 Requesting New Data for a Receive Object............................................................. 1167
26.8.11 Storing Received Messages in FIFO Buffers ............................................................ 1167
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SPNU562–May 2014 Contents
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