Rainbow Electronics CAN интерфейс - Manual (Page 24)

BOSCH
ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1
Sep. 1991
Part A - page 22
5 CODING
BIT STREAM CODING
The frame segments START OF FRAME, ARBITRATION FIELD, CONTROL FIELD,
DATA FIELD and CRC SEQUENCE are coded by the method of bit stuffing. Whenever
a transmitter detects five consecutive bits of identical value in the bit stream to be
transmitted it automatically inserts a complementary bit in the actual transmitted bit
stream.
The remaining bit fields of the DATA FRAME or REMOTE FRAME (CRC DELIMITER,
ACK FIELD, and END OF FRAME) are of fixed form and not stuffed. The ERROR
FRAME and the OVERLOAD FRAME are of fixed form as well and not coded by the
method of bit stuffing.
The bit stream in a message is coded according to the Non-Return-to-Zero (NRZ)
method. This means that during the total bit time the generated bit level is either
’dominant’ or ’recessive’.
Coding