ST72521 STMICROELECTRONICS [STMicroelectronics], ST72521 Datasheet - Page 129

• Manufacturer Part Number: ST72521
• Description: 8-BIT MCU WITH NESTED INTERRUPTS, FLASH, 10-BIT ADC, FIVE TIMERS, SPI, SCI, I2C, CAN INTERFACE
• Manufacturer: STMICROELECTRONICS [STMicroelectronics]

CONTROLLER AREA NETWORK (Cont’d)
Figure 68. CAN Frames
Overload Delimiter
Error Delimiter or
End Of Frame or
Remote Frame
Data Frame or
Any Frame
Inter-Frame Space
Inter-Frame Space
Intermission
Overload Flag
Error Flag
3
Arbitration Field
Arbitration Field
6
6
Overload Frame
Transmission
Inter-Frame Space
Suspend
ID
ID
Flag Echo
12
12
Error Frame
8
Overload Delimiter
6
8
Control Field
Control Field
Error Delimiter
Bus Idle
Inter-Frame Space
or Error Frame
8
6
6
DLC
DLC
Remote Frame
Data Frame or
Remote Frame
or Overload Frame
Inter-Frame Space
Data Field
44
8 * N
Data Frame
44 + 8 * N
CRC Field
CRC
16
CRC Field
Ack Field
CRC
Notes:
• 0
• SOF = Start Of Frame
• ID = Identifier
• RTR = Remote Transmission Request
• IDE = Identifier Extension Bit
• r0 = Reserved Bit
• DLC = Data Length Code
• CRC = Cyclic Redundancy Code
• Error flag: 6 dominant bits if node is error
• Suspend transmission: applies to error
• EOF = End of Frame
• ACK = Acknowledge bit
16
active else 6 recessive bits.
passive nodes only.
2
End Of Frame
7
Ack Field
N
2
or Overload Frame
Inter-Frame Space
Inter-Frame Space
or Overload Frame
EOF
7
8
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