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CONTENTS
CHAPTER 1
GUIDE TO THIS MANUAL
1.1 MANUAL CONTENTS................................................................................................... 1-1
1.2 RELATED DOCUMENTS.............................................................................................. 1-2
CHAPTER 2
ARCHITECTURAL OVERVIEW
2.1 DEVICE FEATURES ..................................................................................................... 2-1
2.2 BLOCK DIAGRAM......................................................................................................... 2-2
2.3 INTERNAL TIMING........................................................................................................ 2-2
CHAPTER 3
MEMORY PARTITIONS
3.1 MEMORY MAP, SPECIAL-FUNCTION REGISTERS, AND WINDOWING .................. 3-1
CHAPTER 4
STANDARD AND PTS INTERRUPTS
4.1 INTERRUPT SOURCES, VECTORS, AND PRIORITIES ............................................. 4-1
CHAPTER 5
I/O PORTS
5.1 PORT 0 AND EPORT.................................................................................................... 5-1
CHAPTER 6
ANALOG-TO-DIGITAL (A/D) CONVERTER
6.1 ADDITIONAL A/D INPUT CHANNELS.......................................................................... 6-1
CHAPTER 7
CAN SERIAL COMMUNICATIONS CONTROLLER
7.1 CAN FUNCTIONAL OVERVIEW................................................................................... 7-1
7.2 CAN CONTROLLER SIGNALS AND REGISTERS....................................................... 7-3
7.3 CAN CONTROLLER OPERATION................................................................................ 7-4
7.3.1 Address Map .............................................................................................................7-5
7.3.2 Message Objects ......................................................................................................7-5
7.3.2.1 Receive and Transmit Priorities ...........................................................................7-6
7.3.2.2 Message Acceptance Filtering .............................................................................7-6
7.3.3 Message Frames ......................................................................................................7-7
7.3.4 Error Detection and Management Logic ...................................................................7-9
7.3.5 Bit Timing ................................................................................................................7-10
7.3.5.1 Bit Timing Equations ..........................................................................................7-12
7.4 CONFIGURING THE CAN CONTROLLER................................................................. 7-13
7.4.1 Programming the CAN Control (CAN_CON) Register ............................................7-13
7.4.2 Programming the Bit Timing 0 (CAN_BTIME0) Register ........................................7-15
7.4.3 Programming the Bit Timing 1 (CAN_BTIME1) Register ........................................7-16