32186 datasheet(726/1032 Pages) RENESAS

726 / 1032 page

CAN MODULE

13-116

32185/32186 Group Hardware Manual

Rev.1.10 REJ09B0235-0110 May 15, 07

Figure 13.3.2 CAN Protocol Frames (2)

13.3 CAN Protocol

Error flag

Error delimiter

Interframe space or overload flag

6–12

Overload flag

Overload delimiter

6–12

Interframe space or overload flag

Error frame

Overload frame

Interframe space

Intermission

Bus idle

SOF of the next frame

For the case of an error active state

0–

Suspend transmission

For the case of an error passive state

0–

SOF of the next frame

Bus idle

Intermission

Note: • The number in each field denotes the number of bits.

13.3.2 Data Formats during CAN Transmission/Reception

Figure 13.3.3 shows an example of the transmit/receive transfer data format that can be used in CAN. Data is

transmitted/received sequentially beginning with the MSB side of the CAN message slot (C0MSLnSID0-

C0MSLnDT7 and C1MSLnSID0-C1MSLnDT7).

Figure 13.3.3 Example of CAN Transmit/Receive Transfer Data Format

SOF

SID0

SID1

SID2

SID3

MSB

Arbitration field

CAN frame

Arbitration field

MSB

Data field

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