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
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