upd70f3402 Renesas Electronics Corporation., upd70f3402 Datasheet - Page 529

• Manufacturer Part Number: upd70f3402
• Description: 32-/16-bit Single-chip Microcontroller With Can Interface
• Manufacturer: Renesas Electronics Corporation.

16.2.2 Frame types
The following four types of frames are used in the CAN protocol.
(1)
16.2.3 Data frame and remote frame
(1)
Remark:
Data frame
Remote frame
Error frame
Overload frame
Bus value
The bus values are divided into dominant and recessive.
• Dominant level is indicated by logical 0.
• Recessive level is indicated by logical 1.
• When a dominant level and a recessive level are transmitted simultaneously, the bus value
Data frame
A data frame is composed of seven fields.
Frame Type
becomes dominant level.
R
D
D: Dominant = 0
R: Recessive = 1
<1>
<2>
Frame used to transmit data
Frame used to request a data frame
Frame used to report error detection
Frame used to delay the next data frame or remote frame
User’s Manual U16702EE3V2UD00
<3>
Chapter 16 FCAN Controller
Table 16-2: Frame Types
Figure 16-3: Data Frame
Data frame
<4>
Description
<5>
<6> <7>
ACK field
CRC field
Data field
Control field
Arbitration field
Start of frame (SOF)
End of frame (EOF)
Interframe space
<8>
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