ST92F124_06 Datasheet, PDF (340/429 Pages) STMicroelectronics – 8/16-BIT SINGLE VOLTAGE FLASH MCU FAMILY WITH RAM, E3 TM(EMULATED EEPROM), CAN 2.0B AND J1850 BLPD

CONTROLLER AREA NETWORK (bxCAN)
CONTROLLER AREA NETWORK (Cont’d)
Figure 153. CAN Frames
Inter-Frame Space
Data Frame (Standard identifier)
44 + 8 * N
Arbitration Field Control Field Data Field
CRC Field
12
6
8*N
16
ID
DLC
CRC
Inter-Frame Space
or Overload Frame
Ack Field
2
7
EOF
Inter-Frame Space
Data Frame (Extended Identifier)
64 + 8 * N
Inter-Frame Space
or Overload Frame
Std Arbitr. Field
12
ID
Ext Arbitr. Field Ctrl Field Data Field CRC Field Ack Field
2
20
6
8*N
16
7
DLC
CRC
EOF
Inter-Frame Space
Remote Frame
44
Arbitration Field Control Field
CRC Field
12
6
16
ID
DLC
CRC
Inter-Frame Space
or Overload Frame
Ack Field End Of Frame
2
7
Data Frame or
Remote Frame
Error Frame
Inter-Frame Space
or Overload Frame
Error Flag Flag Echo Error Delimiter
6
≤6
8
Any Frame
Inter-Frame Space
Intermission
3
Suspend
Transmission
Bus Idle
8
Data Frame or
Remote Frame
End Of Frame or
Error Delimiter or
Overload Delimiter
Overload Frame
Inter-Frame Space
or Error Frame
Overload Flag Overload Delimiter
6
8
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
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