Rainbow Electronics CAN интерфейс User Manual
Page 5
BOSCH
ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1
Sep. 1991
Part A - page 3
1
INTRODUCTION................................................................................4
2
BASIC CONCEPTS............................................................................5
3
MESSAGE TRANSFER .....................................................................10
3.1
Frame Types ......................................................................................10
3.1.1
DATA FRAME ....................................................................................10
3.1.2
REMOTE FRAME ..............................................................................15
3.1.3
ERROR FRAME.................................................................................16
3.1.4
OVERLOAD FRAME..........................................................................17
3.1.5
INTERFRAME SPACING...................................................................18
3.2
Definition of TRANSMITTER/RECEIVER ..........................................20
4
MESSAGE VALIDATION ...................................................................21
5
CODING .............................................................................................22
6
ERROR HANDLING...........................................................................23
6.1
Error Detection ...................................................................................23
6.2
Error Signalling...................................................................................23
7
FAULT CONFINEMENT.....................................................................24
8
BIT TIMING REQUIREMENTS ..........................................................27
9
INCREASING CAN OSCILLATOR TOLERANCE..............................31
9.1
Protocol Modifications ........................................................................31
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