Analog Devices Blackfin ADSP-BF537 Hardware Reference Manual page 542

Functional Operation
All receivers that did not detect the transmission error in the first instance
now detect a stuff bit error. The transmitter may detect a normal bit error
sooner. It aborts the transmission of the ongoing frame and tries sending
it again later.
Finally, all nodes on the bus have detected an error. Consequently, all of
them send 6 dominant and 8 recessive bits to the bus as well. The result-
ing error frame consists of two different fields. The first field is given by
the superposition of error flags contributed from the different stations,
which is a sequence of 6 to 12 dominant bits. The second field is the error
delimiter and consists of 8 recessive bits indicating the end of frame.
NODE 1 TX
NODE 2 TX
NODE 3 TX
RESULTING BUS
Figure 9-10. CAN Error Scenario Example
For CRC errors, the error frame is initiated at the end of the frame, rather
than immediately after the failing bit.
9-30
NODE 2 DETECTS
ANY ERROR AND
INITIATES ERROR
FRAME
NODE 1
NODE 1 DETECTS
WAS
TRANS- A BIT EROR AND
SIGNALS THE
MITTING
ERROR ALSO
DATA
6 BITS
6 BITS
ADSP-BF537 Blackfin Processor Hardware Reference
NODE 3 DETECTS
A STUFF BIT ERROR
AND SIGNALS THE
ERROR ALSO
6 BITS
8 BITS
ERROR FRAME
NEW START
BIT