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CAN PROTOCOL
Rev. 3
MOTOROLA
i
TABLE OF CONTENTS
Paragraph
Number
Page
Number
TITLE
TABLE OF CONTENTS
PART A
1
INTRODUCTION
2
BASIC CONCEPTS
2.1
2.2
2.2.1
2.2.1.1
2.2.1.2
2.2.1.3
2.2.1.4
2.3
2.4
2.5
2.6
2.7
2.8
2.8.1
2.8.2
2.9
2.10
2.11
2.12
2.13
2.14
2.15
Layered structure of a CAN node..........................................................................2-1
Messages..............................................................................................................2-1
Information routing...........................................................................................2-1
System flexibility.........................................................................................2-1
Message routing.........................................................................................2-2
Multicast.....................................................................................................2-3
Data consistency........................................................................................2-3
Bit-rate...................................................................................................................2-3
Priorities ................................................................................................................2-3
Remote data request.............................................................................................2-3
Multi-master...........................................................................................................2-3
Arbitration..............................................................................................................2-4
Data integrity .........................................................................................................2-4
Error detection .................................................................................................2-4
Performance of error detection ........................................................................2-5
Error signalling and recovery time.........................................................................2-5
Fault confinement..................................................................................................2-5
Connections...........................................................................................................2-5
Single channel.......................................................................................................2-6
Bus values.............................................................................................................2-6
Acknowledgement .................................................................................................2-6
Sleep mode/wake-up.............................................................................................2-6
F
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Freescale Semiconductor, Inc.
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