The CAN specifications use the terms "dominant" bits and "recessive" bits in which dominant is often a rational 0 (actively pushed to your voltage from the transmitter) and recessive is a logical one (passively returned into a voltage by a resistor). The idle state is represented by the recessive amount (Rational one). If one node transmits a dominant bit and One more node transmits a recessive bit then there is a collision and also the dominant bit "wins".
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All nodes are linked to each other through a two wire bus. The wires really are a twisted pair having a 120 Ω (nominal) attribute impedance.
All fields within the frame are stuffed except for the CRC delimiter, ACK industry and stop of body that are a hard and fast dimension and so are not stuffed. From the fields the place little bit stuffing is utilized, 6 consecutive bits of the same polarity (111111 or 000000) are deemed an error.
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is the dimensions in the frame before stuffing, inside the worst situation 1 little bit will probably be additional just about every four unique bits right after the 1st a person (for this reason the −1 with the numerator) and, due to structure with the bits of your header, only 34 from forty four of them might be issue to bit stuffing.
The velocity from the dominant to recessive transition depends totally on the length of the CAN community along with the capacitance of the wire used.
Obtaining: the CAN controller shops the acquired serial bits with the bus right until a whole concept is on the market, which may then be fetched with the host processor (ordinarily from the CAN controller triggering an interrupt).