Bxcan Interrupts; Figure 204. Can Frames - ST STM32F102 Series Reference Manual

Controller area network (bxCAN)

Figure 204. CAN frames

Data Frame or
Remote Frame
End Of Frame or
Error Delimiter or
Overload Delimiter
21.5

bxCAN interrupts

Four interrupt vectors are dedicated to bxCAN. Each interrupt source can be independently
enabled or disabled by means of the CAN Interrupt Enable Register (CAN_IER).
516/690
Inter-Frame Space
Arbitration Field
32
ID
Inter-Frame Space
Arbitration Field
32
ID
Inter-Frame Space
Arbitration Field
32
ID
Error Frame
Error
Flag Echo Error Delimiter
Flag
6
6
Any Frame Inter-Frame Space
Suspend
Intermission Bus Idle
Transmission
3
8
Overload Frame
Overload Overload
Flag Echo
6
6
Data Frame (Standard identifier)
44 + 8 * N
Ctrl Field Data Field CRC Field
6 8 * N
DLC
Data Frame (Extended Identifier)
64 + 8 * N
Ctrl Field Data Field
Arbitration Field
32 6 8 * N
DLC
Remote Frame
44
Ctrl Field CRC Field
6 16
DLC CRC
Inter-Frame Space
or Overload Frame
8
Data Frame or
Remote Frame
Inter-Frame Space
or Error Frame
Overload
Delimiter
8
Inter-Frame Space
or Overload Frame
Ack Field
2
16 7
CRC EOF
Inter-Frame Space
or Overload Frame
CRC Field Ack Field
2
16 7
CRC EOF
Inter-Frame Space
or Overload Frame
Ack Field
2
7
EOF
Notes:
0 <= N <= 8
SOF = Start Of Frame
ID = Identifier
RTR = Remote Transmission Request
IDE = Identifier Extension Bit
r0 = Reserved Bit
DLC = Data Length Code
CRC = Cyclic Redundancy Code
Error flag: 6 dominant bits if node is error
active else 6 recessive bits.
Suspend transmission: applies to error
passive nodes only.
EOF = End of Frame
ACK = Acknowledge bit
Ctrl = Control
RM0008
ai15154