Can Protocol; Can Protocol Frames - Renesas M32R/ECU Series User Manual

13

13.3 CAN Protocol

13.3.1 CAN Protocol Frames

There are four types of frames that are handled by CAN protocol:
(1) Data frame
(2) Remote frame
(3) Error frame
(4) Overload frame
Frames are separated from each other by an interframe space.
Data frame
Standard format
Extended format
SOF
Remote frame
Standard format
Extended format
1
SOF
Figure 13.3.1 CAN Protocol Frames (1)
1 11 1 6 0–64
1 11 1 1 18 1
Arbitration field
1 11 1 6 16
11 1 1 18 1
Arbitration field
Note: • The number in each field denotes the number of bits.
16 2 7
6 0–64 16
CRC field
Data field
Control field
2 7
6 16 2 7
EOF
ACK field
CRC field
Control field
13-72
CAN MODULE
13.3 CAN Protocol
2 7
EOF
ACK field
32180 Group User's Manual (Rev.1.0)