ST STM32F40 Series User Manual

RM0090 Controller area network (bxCAN)
Doc ID 018909 Rev 4 682/1422
Figure 236. CAN frames
Data Frame or
Remote Frame
Data Field
8 * N
Ctrl Field
6
Arbitration Field
32
CRC Field
16
Ack Field
7
SOF
ID
DLC
CRC
Data Frame (Standard identifier)
44 + 8 * N
Arbitration Field
32
RTR
IDE
r0
SOF
ID
DLC
Remote Frame
44
CRC Field
16
7
CRC
Ctrl Field
6
Overload
Overload Frame
Error
6
Error Delimiter
8
Error Frame
Flag Echo
6
Bus Idle
Inter-Frame Space
Suspend
8
Intermission
3
Transmission
ACK
ACK
2
2
Inter-Frame Space
or Overload Frame
Inter-Frame Space
Inter-Frame Space
or Overload Frame
Inter-Frame Space
Inter-Frame Space
or Overload Frame
Notes:
0 <= N <= 8
SOF = Start Of Frame
ID = Identifier
RTR = Remote Transmission Request
IDE = Identifier Extension Bit
r0 = Reserved Bit
DLC = Data Length Code
CRC = Cyclic Redundancy Code
Error flag: 6 dominant bits if node is error
active else 6 recessive bits.
Suspend transmission: applies to error
passive nodes only.
EOF = End of Frame
ACK = Acknowledge bit
Ctrl = Control
Data Frame or
Remote Frame
Any Frame
Inter-Frame Space
or Error Frame
End Of Frame or
Error Delimiter or
Overload Delimiter
Ack Field
EOF
RTR
IDE
r0
EOF
Data Field
8 * N
Ctrl Field
6
32
CRC Field
16
Ack Field
7
SOF
ID
DLC
CRC
Data Frame (Extended Identifier)
64 + 8 * N
ACK
2
Inter-Frame Space
or Overload Frame
Inter-Frame Space
SRR
IDE
EOF
RTR
r1
r0
32
6
Overload
8
6
Overload
Flag
Echo
Delimiter
Flag
ai15154
Arbitration Field Arbitration Field

ST STM32F40 Series Specifications

General

Brand	ST
Model	STM32F40 Series
Category	Microcontrollers
Language	English