ST STM32L4+ Series Reference Manual page 2060

Controller area network (bxCAN)
Inter-Frame Space
Arbitration Field
32
ID
Inter-Frame Space
Arbitration Field
32
ID
Inter-Frame Space
Arbitration Field
32
ID
Data Frame or
Error Frame
Remote Frame
Error
Flag Echo
Flag
6
Any Frame Inter-Frame Space
Suspend
Intermission
Transmission
3
End of Frame or
Error Delimiter or
Overload Delimiter
Overload
Flag
6
2060/2301
Figure 614. CAN frames
Data Frame (Standard Identifier)
Ctrl Field Data Field
6 8 *N
DLC
Data Frame (Extended Identifier)
Arbitration Field
32
Remote Frame
44
Ctrl Field
6
DLC
Inter-Frame Space
or Overload Frame
Error
Delimiter
6 8
Data Frame or
Remote Frame
Bus Idle
8
Inter-Frame Space
or Error Frame
Overload Frame
Overload Overload
Echo Delimiter
6 8
44 + 8 *N
CRC Field
16
CRC
64 + 8 *N
Ctrl Field Data Field
8 *N
DLC
CRC Field ACK Field
2
16
CRC
Notes:
RM0432 Rev 6
Inter-Frame Space
or Overload Frame
ACK Field
2
7
EOF
Inter-Frame Space
or Overload Frame
CRC Field ACK Field
2
16 7
CRC EOF
Inter-Frame Space
or Overload Frame
7
EOF
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
RM0432
ai15154b