Microchip Technology dsPIC30F - Page 633

© 2004 Microchip Technology Inc. DS70070B-page 23-35
Section 23. CAN
CAN Module
23
Figure 23-6: Error Frame
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
0 0 0 0
Start-Of-Frame
Interrupted Data Frame
12
Arbitration Field
ID 10
11
ID3
ID0
Identifier
Message Filtering
RTR
IDE
RB0
DLC3
DLC0
6
4
Control Field
Data Length Code
Reserved Bits
8N (≤ N ≤ 8)
Data Field
8
8
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
Star-Of-Frame
Data Frame or Remote Frame
3
8
0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0
Data Frame or Remote Frame
Error Frame
6
Error Flag
≤ 6
Echo Error Flag
8
Error Delimiter
Inter-Frame Space