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T4 IntraVehicleNetworking CAN DLL v2
T4 IntraVehicleNetworking CAN DLL v2
ilker.demirkol@upc.edu
Sublayer: Medium Access Control (MAC)
Message framing
Arbitration
Acknowledgement
Error detection, error signaling
S
Node B Bus Idle O
F
Receiving Mode Bus Idle
S R
Node C Bus Idle O T Receiving Mode Bus Idle
F R
S R
Node D Bus Idle O
F
T
R
Transmission Mode Bus Idle
IDE (Identifier extension (IDE) bit: indicates that an 18-bit extension identifier follows
Recessive for extended frames
S
11-bit R I
R Data End of CAN2.0A Data/Remote
O T D DLC CRC ACK
F Identifier R E
0 Field Frame
Frame
GQ: What happens if a standard frame and extended frame with identical 11 bit base identifier
competes for the medium? They can co-exist!
GQ: What is the effect of setting the SRR to recessive? What would happen if it was dominant or
using that bit as part of ID?
GQ: Why to move RTR?
Carrier Sense Multiple Access / Idle for IFS after a
frame tx?
Collision Resolution (CSMA/CR) yes
Contention-free
Transmit
SOF
no
High bus capacity utilization (up to 100%)
Arbitration Bit
== Bus Level? no
yes yes
Transmit rest Error Status
of message