CAN Specification V2.0

The Controller Area Network (CAN) is a serial communications protocol which efficiently supports distributed realtime control with a very high level of security.
Its domain of application ranges from high speed networks to low cost multiplex wiring.
In automotive electronics, engine control units, sensors, anti-skid-systems, etc. are connected using CAN with bitrates up to 1 Mbit/s. At the same time it is cost effective to build into vehicle body electronics, e.g. lamp clusters, electric windows etc. to replace the wiring harness otherwise required.

TOC:

1 INTRODUCTION................................................................................4
2 BASIC CONCEPTS............................................................................5
3 MESSAGE TRANSFER.....................................................................10
3.1 Frame Types ......................................................................................10
3.1.1 DATA FRAME ....................................................................................10
3.1.2 REMOTE FRAME ..............................................................................15
3.1.3 ERROR FRAME.................................................................................16
3.1.4 OVERLOAD FRAME..........................................................................17
3.1.5 INTERFRAME SPACING...................................................................18
3.2 Definition of TRANSMITTER/RECEIVER ..........................................20
4 MESSAGE VALIDATION...................................................................21
5 CODING.............................................................................................22
6 ERROR HANDLING...........................................................................23
6.1 Error Detection ...................................................................................23
6.2 Error Signalling...................................................................................23
7 FAULT CONFINEMENT.....................................................................24
8 BIT TIMING REQUIREMENTS ..........................................................27
9 INCREASING CAN OSCILLATOR TOLERANCE..............................31
9.1 Protocol Modifications ........................................................................31