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MOTOROLA
ii
CAN PROTOCOL
Rev. 3
TABLE OF CONTENTS
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Go to: www.freescale.com
Paragraph
Number
Page
Number
TABLE OF CONTENTS
3
MESSAGE TRANSFER
3.1
3.1.1
3.1.2
3.2
3.2.1
3.2.1.1
3.2.1.2
3.2.1.3
3.2.1.4
3.2.1.5
3.2.1.6
3.2.1.7
3.2.2
3.2.3
3.2.3.1
3.2.3.2
3.2.4
3.2.4.1
3.2.4.2
3.2.5
3.2.5.1
3.2.5.2
3.2.5.3
3.3
3.3.1
3.3.2
3.4
Definition of transmitter/receiver............................................................................ 3-1
Transmitter....................................................................................................... 3-1
Receiver........................................................................................................... 3-1
Frame types........................................................................................................... 3-1
Data frame....................................................................................................... 3-2
Start of frame............................................................................................. 3-2
Arbitration field........................................................................................... 3-2
Control field................................................................................................ 3-3
Data field.................................................................................................... 3-3
CRC field.................................................................................................... 3-4
ACK field.................................................................................................... 3-5
End of frame .............................................................................................. 3-6
Remote frame.................................................................................................. 3-6
Error frame....................................................................................................... 3-7
Error flag.................................................................................................... 3-7
Error Delimiter............................................................................................ 3-8
Overload frame................................................................................................ 3-8
Overload flag.............................................................................................. 3-9
Overload Delimiter ..................................................................................... 3-9
Interframe space.............................................................................................. 3-9
INTERMISSION......................................................................................... 3-10
Bus idle...................................................................................................... 3-10
Suspend transmission................................................................................ 3-13
Message validation................................................................................................ 3-13
Transmitter....................................................................................................... 3-13
Receiver........................................................................................................... 3-13
Bit-stream coding .................................................................................................. 3-13
4
ERROR HANDLING
4.1
4.1.1
4.1.2
4.1.3
4.1.4
4.1.5
4.2
Error detection....................................................................................................... 4-1
Bit error............................................................................................................ 4-1
Stuff error......................................................................................................... 4-1
CRC error ........................................................................................................ 4-1
Form error........................................................................................................ 4-2
Acknowledgement error................................................................................... 4-2
Error signalling ...................................................................................................... 4-2
F
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Freescale Semiconductor, Inc.