Microchip Technology dsPIC30F - Page 631

© 2004 Microchip Technology Inc. DS70070B-page 23-33
Section 23. CAN
CAN Module
23
Figure 23-4: Extended Data Format
1 1 1 1 1 0
bus Idle
Start-Of-Frame
Data Frame or Remote Frame
0 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
Start-Of-Frame
Arbitration Field
32
11
ID10
ID3
ID0
IDE
Identifier
Message Filtering
Stored in Buffers
SRR
EID17
EID0
RTR
RB1
RB0
DLC3
18
DLC0
6
Control Field
4
Reserved bits
Data Length Code
Stored in Transmit/Receive Buffers
8 8
Extended Data Frame (number of bits = 64 + 8 N)
8N (N≤ 8)
Data Field
1 1 1 1 1 1 1 1
16
CRC Field
15
CRC
CRC Del
Acknowledgment
ACK Del
End-Of- Frame
7
Bit-Stuffing
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
INT Suspend
Transmit
bus Idle
Any Frame
Inter-Frame Space
Start-Of-Frame
Data Frame or Remote Frame
3
8
Extended Identifier
1