AN1105 datasheet(8/100 Pages) STMICROELECTRONICS

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ST7 pCAN PERIPHERAL DRIVER

Figure 3. CAN Remote Frame

1.2.3 CAN Error Frame

The CAN Error frame is sent by a node as soon as it detects a protocol violation in the current

operations on the bus. This frame is composed of 6 successive dominant bits (active error

flag) or recessive (passive error flag), followed by 8 recessive Frame Delimiter bits. The cur-

rent error state of the node sending the error frame (See Section 1.5 "Error Management") will

determine whether it is an active frame (node in error active state) or a passive frame (node in

error passive state).

1.2.4 CAN Overload Frame

The CAN Overload Frame can be sent during the interframe space to delay the next transmis-

sion on the bus. This frame has the same constitution as the active Error frame.

Figure 4. CAN Error/Overload Frame

1.3 PHYSICAL REPRESENTATION OF DATA

The CAN data is encoded with NRZ (Non Return to Zero) code. The two logical levels used

are named dominant (0) and recessive (1). Because the CAN cells are connected on the bus

according to the wired-AND principle, it follows that the default bus state is recessive, and that

19 bits

25 bits

11-bit Identifier

DLC

15 bits

Bus Idle

3 bits

7 bits

EOF

ACK

CRC Field

Control

Field

Arbitration Field

SOF

RTR = 1

IDE = 0

ACK Delimiter

ACK Slot

CRC

Delimiter

Interframe

Space

3 bits

Bus Idle or Data Frames

8 bits

Interframe

Space

Error/Overload

Delimiter

Max. 12 bits

Error/Overload

6 bits

Data Frame

Error Detection

Flag

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