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Chapter 34 CAN Controller
2.Register Description
2. Register Description
This section lists the CAN registers and describes the function of each register in detail.
2.1 Programmer’s Model
The CAN module allocates an address space of 256 bytes (64 words). The CAN registers can be accessed
from the CPU in byte, halfword and word.
The two sets of interface registers (IF1 and IF2) control the CPU access to the Message RAM. They buffer the
data to be transferred to and from the RAM, avoiding conflicts between CPU accesses and message
reception/transmission.
The data registers (IF1 Data and IF2 Data) are doubled in the address map, ordered both in little endian byte
and big endian byte.
If several CAN modules are present on a device then they are located linear in the address space with a
constant offset of 256 bytes (64 words). The base address of each CAN module is given by the following
table:
• Base-address of CAN0 :0x00C000
• Base-address of CAN1 :0x00C100
• Base-address of CAN2 :0x00C200
• Base-address of CAN3 :0x00C300
• Base-address of CAN4 :0x00C400
• Base-address of CAN5 :0x00C500
Address
Register
Note
+0 +1 +2 +3
Base-addr +
0x00
Control Register Status Register
bit[15:8] bit[7:0] bit[15:8] bit[7:0]
reserved see descr. CTRLR reserved see descr. STATR
Reset: 0x00 Reset: 0x01 Reset: 0x00 Reset: 0x00
Base-addr +
0x04
Error Counter Bit Timing Register ErrorCounter isread
only.
Bit Timing Register
is write enabled by
CCE
bit[15:8] bit[7:0] bit[15:8] bit[7:0]
RP,REC[6:0] TEC[7:0] TSeg2[2:0],TSeg1[3:0] SJW[1:0],BRP[5:0]
Reset: 0x00 Reset: 0x00 Reset: 0x23 Reset: 0x01
Base-addr +
0x08
Interrupt Register Test Register Interrupt Register is
read only.
Test Register iswrite
enabled by Test.
r signifies the actual
value of the
CAN_RX pin.
bit[15:8] bit[7:0] bit[15:8] bit[7:0]
Int-Id[15:8] Int-Id[7:0] reserved see descr. TESTR
Reset: 0x00 Reset: 0x00 Reset: 0x00 Reset: 0x00 &
0br0000000
Base-addr +
0x0C
BRP Extension Register Reserved BRP Extension Reg-
ister is write enabled
by CCE.
bit[15:8] bit[7:0] bit[15:8] bit[7:0]
reserved BRP[3:0] reserved reserved
Reset: 0x00 Reset: 0x00 Reset: 0x00 Reset: 0x00