CAN

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Overview

Controller Area Network (CAN) Bus Protocol Information. The ISO-11898:2003 Standard, with the standard 11-bit identifier, provides for signaling rates from 125kbps to 1 Mbps. The standard was later amended with the “extended” 29-bit identifier.

Packet Details

11-bit packet layout

  • SoF - Start of Frame (1 bit)
  • 11-bit ID - (aka Arb ID) Also sets Priority. Lower is higher prio
  • RTR - Remote Transmission Request (1 bit)
  • IDE - ID Extension (1 bit)
  • Reserved - (1 bit)
  • DLC - Data Length Code (4 bits) Length of data
  • Data - Up to 8 bytes (Some Systems pad with 0s others don't)
  • CRC - 2 bytes (15 bits plus delimeter) CRC
  • ACK - 2 bits (1 is ack, 2nd is delminter)
  • EOF - 7 bits End of Frame
  • IFS - 7 bits Interframe space

29-bit packet layout

  • SoF - Start of Frame (1 bit)
  • 11-bit ID - (aka Arb ID) Also sets Priority. Lower is higher prio
  • SRR - Substitute Remote Request (1 bit)
  • IDE - ID Extension (1 bit)
  • 18-bit ID -
  • RTR - Remote Transmission Request (1 bit)
  • Reserved - (2 bits)
  • DLC - Data Length Code (4 bits) Length of data
  • Data - Up to 8 bytes (Some Systems pad with 0s others don't)
  • CRC - 2 bytes (15 bits plus delimeter) CRC
  • ACK - 2 bits (1 is ack, 2nd is delminter)
  • EOF - 7 bits End of Frame
  • IFS - 7 bits Interframe space


See Also