CAN (Controller Area Network) data frames

CAN (Controller Area Network) by the identifier length is divided into different standard and extended frames.
Standard data frame contains 44 to 108 data, including
- Start of Frame (1)
- Arbitration Field (12) – (a 11 Identifier and an RTR components)
- Control Field (6)
- Data Field (0 ~ 64)
- CRC Field (16)
- ACK Field (2)
- End of Frame (7).

Extended data frame contains 64 to 128 data, including

- Start of Frame (1)
- Arbitration Field (32) – (11 Identifier A, 1 SRR, 1 IDE, 18 Identifier B, 1 bit RTR components)
- Control Field (6)
- Data Field (0 ~ 64)
- CRC Field (16)
- ACK Field (2)
- End of Frame (7).

In addition, bit stuffing rule is based on CAN standard, the standard data frames may be up to 23 filling stuffing bits, and extended data frame is filled up to fill the
28-bit.
Thus the total length of the longest CAN standard data frame and extended data frames were 131 and 156, the reference for the calculation when the bus load.
 Length
Field name Purpose
(bits)
Start-of-frame 1 Denotes the start of frame transmission
Identifier 11 A (unique) identifier which also represents the message priority
Remote transmission request (RTR) 1 Must be dominant (0) for data frames and recessive (1) for remote request frames
Identifier extension bit (IDE) 1 Must be dominant (0) for base frame format with 11-bit identifiers
Reserved bit (r0) 1 Reserved bit. Must be dominant (0), but accepted as either dominant or recessive.
Data length code (DLC) 4 Number of bytes of data (0–8 bytes)
Data field 64 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)
108

Length
Field name Purpose
(bits)
Start-of-frame 1 Denotes the start of frame transmission
Identifier A 11 First part of the (unique) identifier which also represents the message priority
Substitute remote request (SRR) 1 Must be recessive (1)
Identifier extension bit (IDE) 1 Must be recessive (1) for extended frame format with 29-bit identifiers
Identifier B 18 Second part of the (unique) identifier which also represents the message priority
Remote transmission request (RTR) 1 Must be dominant (0) for data frames and recessive (1) for remote request frames
Reserved bits (r1, r0) 2 Reserved bits which 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 64 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)
120