MEGA128CAN Datasheet, PDF (242/413 Pages) ATMEL Corporation – Microcontroller WITH 128K BYTES OF ISP FLASH AND CAN CONTROLLER

Error Setting
– overload delimiter
• AERR: Acknowledgment error (Tx only). No detection of the dominant bit in the
acknowledge slot.
Figure 123. Error Detection Procedures in a Data Frame
Bit error
Stuff error
Form error
Tx ACK error
SOF
Rx
Bit error
Stuff error
Form error
CRC error
Arbitration
Identifier
RTR Command
Message Data
CRC
CRC
del.
ACK
ACK
del.
EOF
inter.
The CAN channel can detect some errors on the CAN network.
• In transmission:
The error is set at MOb level.
• In reception:
- The identified has matched:
The error is set at MOb level.
- The identified has not or not yet matched:
The error is set at general level.
After detecting an error, the CAN channel sends an error frame on network. If the CAN
channel detects an error frame on network, it sends its own error frame.
242 AT90CAN128
4250E–CAN–12/04