What is CAN2.0 protocol?

CAN2.0 protocol is a version of the Controller Area Network (CAN), also known as the traditional CAN protocol. It was developed by the German company BOSCH and has become widely used in automotive electronics and industrial automation control internationally. and one of the fieldbus standards in other distributed control systems. The CAN protocol is designed with emphasis on real-time performance, error detection and recovery mechanisms, and efficient communication between network nodes.

In the CAN2.0 specification, there are two main message formats:

①CAN 2.0A

CAN2.0A supports the Standard Frame Format. The identifier length of this format is 11 bits and is suitable for application scenarios that do not require a large number of nodes or complex network structures.

②CAN 2.0B

In addition to supporting the standard frame format, CAN2.0B also introduces the Extended Frame Format, whose identifier length is increased to 29 bits, which greatly expands the number of addressable nodes and the diversity of data in the network , which solves the problem of insufficient identifier resources that may exist in the CAN network.

CAN 2.0 standard data frame structure

• Start of frame: Marks the start of data frame and remote frame, it consists of only one "dominant" bit.

• Arbitration field: consists of the identifier (ID) and the remote send request (RTR) bits. The length of the identifier is 11 bits, these bits are sent in the order of ID-10 to ID-0, the lowest bit is ID-0, the highest 7 bits (ID-10 ~ ID-4) must not be fully "recessive". The RTR bit must be "dominant" in the data frame; and in the remote frame, the RTR bit must be "recessive".

• Control field: consists of 6 bits, including two reserved bits for future expansion and a 4-bit data length code.

• Data field: consists of the data sent in the data frame, which can include 0 to 8 bytes, each byte includes 8 bits, with the most significant bit (MSB) sent first.

• CRC field: includes CRC sequence and CRC delimiter.

• Response field: 2 bits in length, including response gap and response delimiter.

• End of frame: Each data frame and remote frame are delimited by a flag sequence consisting of 7 "recessive" bits.

Compared with the standard data frame, the ID of the extended data frame is 29-bit and the IDE-bit of the control field is 1. The difference between the two frame formats is achieved by the "Identifier Extension" bit in the "Control Field".

The data transmission features of the CAN2.0 protocol include multi-master communication, non-destructive arbitration, error detection and notification mechanisms, etc. These features ensure that high reliability and real-time performance can be maintained even under heavy network loads or failures. sexual communication.

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