Rainbow Electronics CAN интерфейс - Manual (Page 45)

BOSCH
ROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30
Sep. 1991
Part B - page 43
START OF FRAME ( Standard Format as well as Extended Format )
The START OF FRAME (SOF) marks the beginning of DATA FRAMES and REMOTE
FRAMEs. It consists of a single ’dominant’ bit.
A station is only allowed to start transmission when the bus is idle (see ’INTERFRAME
Spacing’). All stations have to synchronize to the leading edge caused by START OF
FRAME (see ’HARD SYNCHRONIZATION’) of the station starting transmission first.
ARBITRATION FIELD
The format of the ARBITRATION FIELD is different for Standard Format and
Extended Format Frames.
- In Standard Format the ARBITRATION FIELD consists of the 11 bit IDENTIFIER
and the RTR-BIT. The IDENTIFIER bits are denoted ID-28 ... ID-18.
- In Extended Format the ARBITRATION FIELD consists of the 29 bit IDENTIFIER,
the SRR-Bit, the IDE-Bit, and the RTR-BIT. The IDENTIFIER bits are denoted ID-28
... ID-0.
Interframe
Space Interframe
Space
Start of Frame
Arbitration Field
Control Field
Data Field
CRC Field
ACK Field
End of Frame
or
Overload
Frame
DATA FRAME
Data Frame