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MOTOROLA
iv
CAN PROTOCOL
Rev. 3
TABLE OF CONTENTS
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Paragraph
Number
Page
Number
TABLE OF CONTENTS
PART B
8
INTRODUCTION
9
BASIC CONCEPTS
9.1
9.2
9.2.1
9.2.1.1
9.2.1.2
9.2.1.3
9.2.1.4
9.3
9.4
9.5
9.6
9.7
9.8
9.8.1
9.8.2
9.9
9.10
9.11
9.12
9.13
9.14
9.15
9.16
Layered structure of a CAN node.......................................................................... 9-1
Messages.............................................................................................................. 9-1
Information routing........................................................................................... 9-1
System flexibility ........................................................................................ 9-2
Message routing ........................................................................................ 9-3
Multicast..................................................................................................... 9-3
Data consistency........................................................................................ 9-3
Bit-rate................................................................................................................... 9-3
Priorities ................................................................................................................ 9-3
Remote data request............................................................................................. 9-3
Multi-master........................................................................................................... 9-4
Arbitration.............................................................................................................. 9-4
Data integrity......................................................................................................... 9-4
Error detection................................................................................................. 9-4
Performance of error detection........................................................................ 9-5
Error signalling and recovery time......................................................................... 9-5
Fault confinement.................................................................................................. 9-5
Connections .......................................................................................................... 9-5
Single channel....................................................................................................... 9-6
Bus values............................................................................................................. 9-6
Acknowledgement................................................................................................. 9-6
Sleep mode/wake-up............................................................................................. 9-6
Oscillator Tolerance............................................................................................... 9-7
10
MESSAGE TRANSFER
10.1
10.1.1
10.1.2
10.2
10.3
10.3.1
10.3.1.1
Definition of transmitter/receiver.......................................................................... 10-1
Transmitter..................................................................................................... 10-1
Receiver......................................................................................................... 10-1
Frame formats..................................................................................................... 10-1
Frame types......................................................................................................... 10-1
Data frame..................................................................................................... 10-2
Start of frame........................................................................................... 10-2
F
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Freescale Semiconductor, Inc.