CANLOF
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15/Apr/98@11:06
CAN PROTOCOL
Rev. 3
MOTOROLA
xi
LIST OF FIGURES
Figure
Number
Page
Number
TITLE
LIST OF FIGURES
2-1
3-1
3-2
3-3
3-4
3-5
3-6
3-7
3-8
3-9
3-10
3-11
6-1
7-1
7-2
7-3
7-4
7-5
7-6
9-1
10-1
10-2
10-3
10-4
10-5
10-6
10-7
10-8
10-9
10-10
10-11
10-12
10-13
CAN layers ............................................................................................................. 2-2
Data frame.............................................................................................................. 3-2
Arbitration field ....................................................................................................... 3-2
Control field............................................................................................................ 3-3
CRC field................................................................................................................ 3-4
ACK field ................................................................................................................ 3-5
Remote frame......................................................................................................... 3-6
Error frame ............................................................................................................. 3-7
Overload frame....................................................................................................... 3-8
Interframe space (1)............................................................................................... 3-10
Interframe space (2)............................................................................................... 3-10
CAN frame formats................................................................................................. 3-11
Nominal bit time...................................................................................................... 6-1
Local error.............................................................................................................. 7-2
Two consecutive Overload frames.......................................................................... 7-3
Acknowledge error at transmitter, all nodes Error PASSIVE .................................. 7-4
Local error at transmitter, all nodes Error PASSIVE............................................... 7-5
Bit timing for maximum oscillator tolerance............................................................ 7-6
Bit timing for maximum bit rate............................................................................... 7-7
CAN layers ............................................................................................................. 9-2
Data frame............................................................................................................ 10-2
Arbitration field; Standard Format......................................................................... 10-3
Arbitration field; Extended Format........................................................................ 10-3
Control field; Standard Format and Extended Format.......................................... 10-5
CRC field.............................................................................................................. 10-6
ACK field .............................................................................................................. 10-7
Remote frame....................................................................................................... 10-8
Error frame ........................................................................................................... 10-9
Overload frame..................................................................................................... 10-10
Interframe space (1)............................................................................................. 10-12
Interframe space (2)............................................................................................. 10-12
CAN frame format - Standard Format .................................................................. 10-14
CAN frame format - Extended Format.................................................................. 10-16
F
.
Freescale Semiconductor, Inc.
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