CAN 통신 구성

날 개같이 엿먹이던 CAN 통신.. 

그냥 어떻게 구성되고 동작하느지만 알았어도 이렇게 고생하지 않았을것을.. 

젠장.. 너무 기뻐서 wiki에 5000원 기부했다.. Thanks wiki

Base frame format

The frame format is as follows:

Field name	Length (bits)	Purpose
Start-of-frame	1	Denotes the start of frame transmission
Identifier	11	A (unique) identifier for the data which also represents the message priority
Remote transmission request (RTR)	1	Dominant (0) (see Remote Frame below)
Identifier extension bit (IDE)	1	Must be dominant (0). Optional
Reserved bit (r0)	1	Reserved bit (it must be set to dominant (0), but accepted as either dominant or recessive)
Data length code (DLC)*	4	Number of bytes of data (0–8 bytes)
Data field	0–64 (0-8 bytes)	Data to be transmitted (length in bytes dictated by DLC field)
CRC	15	Cyclic redundancy check
CRC delimiter	1	Must be recessive (1)
ACK slot	1	Transmitter sends recessive (1) and any receiver can assert a dominant (0)
ACK delimiter	1	Must be recessive (1)
End-of-frame (EOF)	7	Must be recessive (1)

[edit]Extended frame format

The frame format is as follows:

Field name	Length (bits)	Purpose
Start-of-frame	1	Denotes the start of frame transmission
Identifier A	11	First part of the (unique) identifier for the data which also represents the message priority
Substitute remote request (SRR)	1	Must be recessive (1). Optional
Identifier extension bit (IDE)	1	Must be recessive (1). Optional
Identifier B	18	Second part of the (unique) identifier for the data which also represents the message priority
Remote transmission request (RTR)	1	Must be dominant (0)
Reserved bits (r0, r1)	2	Reserved bits (it must be set dominant (0), but accepted as either dominant or recessive)
Data length code (DLC)*	4	Number of bytes of data (0–8 bytes)
Data field	0–64 (0-8 bytes)	Data to be transmitted (length dictated by DLC field)
CRC	15	Cyclic redundancy check
CRC delimiter	1	Must be recessive (1)
ACK slot	1	Transmitter sends recessive (1) and any receiver can assert a dominant (0)
ACK delimiter	1	Must be recessive (1)
End-of-frame (EOF)	7	Must be recessive (1)