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CAN protocol to the "in-bit-response" group of protocols. The recessive ACK delimiter
bit, which must not be overwritten by a dominant bit, completes the Acknowledge Field.
Seven recessive End-of-Frame (EOF) bits finish the Data Frame. Between any two
consecutive frames, the bus must remain in the recessive state for at least 3 bit times
(called Inter Frame Space). If after the Inter Frame Space, no other nodes attempt to
transmit the bus remains in idle state with a recessive level.
Bus Idle
1
Bus Idle
1
11
1 1
Figure 20-1 CAN Data Frame
Extended Data Frame
In the Extended CAN Data Frame, the message identifier of the standard frame has
been extended to 29-bit. A split of the extended identifier into two parts, an 11-bit least
User's Manual
MultiCAN, V2.24
Controller Area Network Controller (MultiCAN)
Standard Data Frame
11
1
1
1
4
0 - 64
18
1
2
4
0 - 64
Extended Data Frame
15
1
1
1
7
3
Bus Idle
Inter Frame Space
End of Frame (EOF)
ACK Delimiter
ACK Slot
CRC Delimiter
CRC Sequence
Data Field
Data Length Code
Reserved (D)
IDE Bit (D)
RTR Bit (D)
Identifier
Start of Frame
2 Reserved (D)
RTR Bit (D)
29-bit Identfier
IDE Bit (R)
SRR Bit (R)
15
1
1
1
7
3
Bus Idle
20-4
TC1728
Recessive Level
Dominant Level
Acknowledge
Field
CRC Field
Control Field
Arbitration
Field (12 bit)
Arbitration
Field (32 bit)
Recessive Level (R)
Dominant Level (D)
MCT06258
V1.0, 2011-12
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