- CAN averts message/data collisions by using the message ID of the node, i.e. the message with the highest priority (= lowest message ID) will gain access to the bus, while all other nodes (with lower priority message IDs) switch to a “listening” mode.
- At a baud rate of 1 MBit/sec this would translate into 12 microseconds of actual bus arbitration
- bit stuffing - In CAN frames, a bit of opposite polarity is inserted after five consecutive bits of the same polarity. This practice is called bit stuffing, and is due to the non-return to zero (NRZ) coding adopted. The stuffed data frames are destuffed by the receiver.
- Since bit stuffing is used, six consecutive bits of the same type (111111 or 000000) are considered an error.
- Bit stuffing implies that sent data frames could be larger than one would expect by simply enumerating the bits shown in the tables above.
- PeliCAN mode the complete CAN 2.0B functionality is supported (29-bit
identifier).
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