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BOSCH CAN Specification Version 2.0 1991, Robert Bosch GmbH, Postfach 50, D-7000 Stuttgart 1 Thi d t t d ith F M k 4 0 4

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 8 Performance of Error DetectionThe error detection mechanisms have t

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 9 AcknowledgmentAll receivers check the consistency of the message be

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 10 3 MESSAGE TRANSFER 3.1 Frame Types Message transfer is manifested

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 11 START OF FRAMEmarks the beginning of DATA FRAMES and REMOTE FRAMEs

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 12 Coding of the number of data bytes by the DATA LENGTH CODEabbrevia

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 13 DATA FIELDThe DATA FIELD consists of the data to be transferred wi

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 14 IF CRCNXT THENCRC_RG(14:0) = CRC_RG(14:0) EXOR (4599hex);ENDIFUNTI

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 15 3.1.2 REMOTE FRAME A station acting as a RECEIVER for certain data

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 16 3.1.3 ERROR FRAME The ERROR FRAME consists of two different fields

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 17 of equal polarity, beginning at the start of the PASSIVE ERROR FLA

The document as a whole may be copied and distributed withoutrestrictions. However, the usage of it in parts or as a whole in otherdocuments needs th

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 18 OVERLOAD FLAGconsists of six ’dominant’ bits. The overall form cor

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 19 For stations which are not ’error passive’ or have been RECEIVER o

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 203.2 Definition of TRANSMITTER / RECEIVERTRANSMITTERA unit originating

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 214 MESSAGE VALIDATIONThe point of time at which a message is taken to b

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 225 CODINGBIT STREAM CODINGThe frame segments START OF FRAME, ARBITRATIO

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 236 ERROR HANDLING6.1 Error DetectionThere are 5 different error types (

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 247 FAULT CONFINEMENTWith respect to fault confinement a unit may be in

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 25ERROR because of not detecting a ’dominant’ ACK and does not detect a’

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 2610.A node is ’bus off’ when the TRANSMIT ERROR COUNT is greater than o

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 278 BIT TIMING REQUIREMENTSNOMINAL BIT RATEThe Nominal Bit Rate is the n

BOSCH ROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30 Sep. 1991page 1 Recital The acceptance and introduction of serial communication to mo

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 28It is twice the sum of the signal’s propagation time on the bus line,

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 29SYNCHRONIZATIONHARD SYNCHRONIZATIONAfter a HARD SYNCHRONIZATION the in

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 30SYNCHRONIZATION RULESHARD SYNCHRONIZATION and RESYNCHRONIZATION are th

BOSCHROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1Sep. 1991Part A - page 319 INCREASING CAN OSCILLATOR TOLERANCEThis section describes an upwards

PART B

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 331 INTRODUCTION...

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 341 INTRODUCTIONThe Controller Area Network (CAN) is a serial com

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 35course, has to be the same for all nodes. There may be, however

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 362 BASIC CONCEPTSCAN has the following properties• prioritizatio

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 37Data Link LayerPhysical LayerLLCMACAcceptance FilteringOverload

PART A

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 38The scope of this specification is to define the Data Link Laye

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 39Remote Data RequestBy sending a REMOTE FRAME a node requiring d

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 40Total residual error probability for undetected corrupted messa

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 41without any internal activity and with disconnected bus drivers

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 423 MESSAGE TRANSFER3.1 Frame FormatsThere are two different form

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 43START OF FRAME (Standard Format as well as Extended Format)The

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 44In order to distinguish between Standard Format and Extended Fo

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 45Base IDThe Base ID consists of 11 bits. It is transmitted in th

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 46above), and the reserved bit r0. Frames in the Extended Format

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 47DATA FRAME: admissible numbers of data bytes: {0,1,...

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 3 1 INTRODUCTION...

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 48REPEATCRCNXT = NXTBIT EXOR CRC_RG(14);CRC_RG(14:1) = CRC_RG(13:

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 49END OF FRAME (Standard Format as well as Extended Format)Each D

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 50The polarity of the RTR bit indicates whether a transmitted fra

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 51FLAG. So the sequence of ’dominant’ bits which actually can be

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 52At most two OVERLOAD FRAMEs may be generated to delay the next

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 533.2.5 INTERFRAME SPACINGDATA FRAMEs and REMOTE FRAMEs are separ

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 54Note:If a CAN node has a message waiting for transmission and i

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 553.3 Conformance with regard to Frame FormatThe Standard Format

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 564 MESSAGE FILTERINGMessage filtering is based upon the whole Id

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 575 MESSAGE VALIDATIONThe point of time at which a message is tak

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 4 1 INTRODUCTION The Controller Area Network (CAN) is a serial commun

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 586 CODINGBIT STREAM CODINGThe frame segments START OF FRAME, ARB

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 597 ERROR HANDLING7.1 Error DetectionThere are 5 different error

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 607.2 Error SignallingA station detecting an error condition sign

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 618 FAULT CONFINEMENTWith respect to fault confinement a unit may

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 62Exception 1:If the TRANSMITTER is ’error passive’ and detects a

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 6310.A node is ’bus off’ when the TRANSMIT ERROR COUNT is greater

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 649 OSCILLATOR TOLERANCEA maximum oscillator tolerance of 1.58% i

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 6510 BIT TIMING REQUIREMENTSNOMINAL BIT RATEThe Nominal Bit Rate

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 66PROP SEGThis part of the bit time is used to compensate for the

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 67The total number of TIME QUANTA in a bit time has to be program

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 5 2 BASIC CONCEPTS CAN has the following properties• prioritization o

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Sep. 1991Part B - page 68PHASE ERROR of an edgeThe PHASE ERROR of an edge is given by th

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Differences of CAN SpecificationVersions 1.2 and 2.0Sep. 1991- 1 -DifferencesAmendment o

BOSCHROBERT BOSCH GmbH, Postfach 300240, D-7000 Stuttgart 30Differences of CAN SpecificationVersions 1.2 and 2.0Sep. 1991- 2 -page B-56:Chapter 4 “M

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 6 • The Physical Layer defines how signals are actually transmitted.

BOSCH ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1 Sep. 1991Part A - page 7 Bit rateThe speed of CAN may be different in different systems. How