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CP3SP33SMS/NOPB Datasheet(PDF) 170 Page - Texas Instruments |
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CP3SP33SMS/NOPB Datasheet(HTML) 170 Page - Texas Instruments |
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170 / 407 page  CP3SP33 SNOSCW5 – MAY 2013 www.ti.com 22.2.1 CAN Frame Types Communication via the CAN bus is basically established by means of four different frame types: • Data Frame • Remote Frame • Error Frame • Overload Frame Data and remote frames can be used in both standard and extended frame format. If no message is being transmitted, i.e., the bus is idle, the bus is kept at the “recessive” level. Remote and data frames are non-return to zero (NRZ) coded with bit-stuffing in every bit field, which holds computable information for the interface, i.e., start of frame, arbitration field, control field, data field (if present), and CRC field. Error and overload frames are also NRZ coded, but without bit-stuffing. After five consecutive bits of the same value (including inserted stuff bits), a stuff bit of the inverted value is inserted into the bit stream by the transmitter and deleted by the receiver. The following shows the stuffed and destuffed bit stream for consecutive ones and zeros. Original or unstuffed bit stream 10000011111 . . . 01111100000 . . . Stuffed bit stream (stuff bits in bold) 1000001111101 . . . 0111110000010 . . . 22.2.2 CAN Frame Fields Data and remote frames consist of the following bit fields: • Start of Frame (SOF) • Arbitration Field • Control Field • Data Field • CRC Field • ACK Field • EOF Field 22.2.2.1 Start of Frame (SOF) The Start of Frame (SOF) indicates the beginning of data and remote frames. It consists of a single “dominant” bit. A node is only allowed to start transmission when the bus is idle. All nodes have to synchronize to the leading edge (first edge after the bus was idle) caused by the SOF of the node which starts transmission first. 22.2.2.2 Arbitration Field The Arbitration field consists of the identifier field and the RTR (Remote Transmission Request) bit. For extended frames there is also a SRR (Substitute Remote Request) and a IDE (ID Extension) bit inserted between ID18 and ID17 of the identifier field. The value of the RTR bit is “dominant” in a data frame and “recessive” in a remote frame. 22.2.2.3 Control Field The Control field consists of six bits. For standard frames it starts with the ID Extension bit (IDE) and a reserved bit (RB0). For extended frames, the control field starts with two reserved bits (RB1, RB0). These bits are followed by the 4 bit Data Length Code (DLC). The CAN receiver accepts all possible combinations of the reserved bits (RB1, RB0). The transmitter must be configured to send only zeros. 170 Dual CAN Interfaces Copyright © 2013, Texas Instruments Incorporated Submit Documentation Feedback Product Folder Links :CP3SP33 |
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