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32180 Group User’s Manual (Rev.1.0)
CAN MODULE
Figure 13.3.1 CAN Protocol Frames (1)
13.3 CAN Protocol
13.3.1 CAN Protocol Frames
There are four types of frames that are handled by CAN protocol:
(1) Data frame
(2) Remote frame
(3) Error frame
(4) Overload frame
Frames are separated from each other by an interframe space.
13.3 CAN Protocol
SOF
Arbitration field
Control field
Data field
CRC field
ACK field
EOF
11 1 6 0–64 16 2 7
11 1 1 118 6 0–64 16 2
7
SOF EOF
11 1 6 16 2 7
11 1 1 118 6 16 2 7
Data frame
Remote frame
Standard format
Standard format
Extended format
Note: • The number in each field denotes the number of bits.
Extended format
1
1
1
1
Arbitration field
Control field
CRC field
ACK field
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