
CAN PROTOCOL
Rev. 3
MOTOROLA
v
TABLE OF CONTENTS
Paragraph
Number
Page
Number
TABLE OF CONTENTS
10.3.1.2
10.3.1.3
10.3.1.4
10.3.1.5
10.3.1.6
10.3.1.7
10.3.2
10.3.3
10.3.3.1
10.3.3.2
10.3.4
10.3.4.1
10.3.4.2
10.3.5
10.3.5.1
10.3.5.2
10.3.5.3
10.4
10.5
10.6
10.6.1
10.6.2
10.7
Arbitration field.........................................................................................10-3
Control field..............................................................................................10-4
Data field..................................................................................................10-5
CRC field (Standard Format and Extended Format)................................10-6
ACK field (Standard Format and Extended Format) ................................10-7
End of frame.............................................................................................10-7
Remote frame................................................................................................10-8
Error frame.....................................................................................................10-8
Error flag ..................................................................................................10-9
Error delimiter...........................................................................................10-9
Overload frame..............................................................................................10-10
Overload flag............................................................................................10-11
Overload delimiter....................................................................................10-11
Interframe space............................................................................................10-11
INTERMISSION.......................................................................................10-12
Bus idle ....................................................................................................10-13
Suspend transmission..............................................................................10-13
Conformance with regard to frame formats.........................................................10-13
Message filtering .................................................................................................10-13
Message validation..............................................................................................10-17
Transmitter.....................................................................................................10-17
Receiver.........................................................................................................10-17
Bit-stream coding.................................................................................................10-17
11
ERROR HANDLING
11.1
11.1.1
11.1.2
11.1.3
11.1.4
11.1.5
11.2
Error detection.....................................................................................................11-1
Bit error..........................................................................................................11-1
Stuff error.......................................................................................................11-1
CRC error ......................................................................................................11-1
Form error......................................................................................................11-2
Acknowledgement error.................................................................................11-2
Error signalling.....................................................................................................11-2
12
FAULT CONFINEMENT
12.1
12.2
CAN node status .................................................................................................12-1
Error counts.........................................................................................................12-1
F
.
Freescale Semiconductor, Inc.
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