CAN bus - Knowledge

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then a logical 1 is seen by all of the nodes, including both the transmitting node(s) and receiving node(s). If a logical 0 is transmitted by all transmitting node(s) at the same time, then a logical 0 is seen by all nodes. If a logical 0 is being transmitted by one or more nodes, and a logical 1 is being transmitted by one or more nodes, then a logical 0 is seen by all nodes including the node(s) transmitting the logical 1. When a node transmits a logical 1 but sees a logical 0, it realizes that there is a contention and it quits transmitting. By using this process, any node that transmits a logical 1, when another node transmits a logical 0, loses the arbitration and drops out. A node that loses arbitration re-queues its message for later transmission and the CAN frame bit-stream continues without error until only one node is left transmitting. This means that the node that transmits the first 1 loses arbitration. Since the 11 (or 29 for CAN 2.0B) bit identifier is transmitted by all nodes at the start of the CAN frame, the node with the lowest identifier transmits more zeros at the start of the frame, and that is the node that wins the arbitration or has the highest priority.

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identifier, while CAN 2.0B employs a 29-bit identifier. The longer identifier in CAN 2.0B allows for a greater number of unique message identifiers, which is beneficial in complex systems with many nodes and data types. However, this increase in unique message identifiers also increases frame length, which in turn reduces the maximum data rate. Additionally, the extended identifier provides finer control over message prioritization due to more available identifier values. This, however, may introduce compatibility issues; CAN 2.0B devices can generally communicate with CAN 2.0A devices, but not vice versa, due to potential errors in handling longer identifiers. High-speed CAN 2.0 supports bit rates from 40 kbit/s to 1 Mbit/s and is the basis for higher-layer protocols. In contrast, low-speed CAN 2.0 supports bit rates from 40 kbit/s to 125 kbit/s and offers fault tolerance by allowing communication to continue despite a fault in one of the two wires, with each node maintaining its own termination.

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order to improve interoperability, many vehicle makers have generated specifications describing a set of allowed CAN transceivers in combination with requirements on the parasitic capacitance on the line. The allowed parasitic capacitance includes both capacitors as well as ESD protection (ESD against ISO 7637-3). In addition to parasitic capacitance, 12V and 24V systems do not have the same requirements in terms of line maximum voltage. Indeed, during jump start events light vehicle lines can go up to 24V while truck systems can go as high as 36V. New solutions are emerging, allowing the same component to be used for CAN as well as

1813: 1595: 650:, doors, mirror adjustment, battery and recharging systems for hybrid/electric cars, etc. Some of these form independent subsystems, but communication among others is essential. A subsystem may need to control actuators or receive feedback from sensors. The CAN standard was devised to fill this need. One key advantage is that interconnection between different vehicle systems can allow a wide range of safety, economy and convenience features to be implemented using software alone - functionality which would add cost and complexity if such features were 2383: 1637: 3234:

mechanisms; e.g., to authenticate incoming commands or the presence of certain devices on the network. Failure to implement adequate security measures may result in various sorts of attacks if the opponent manages to insert messages on the bus. While passwords exist for some safety-critical functions, such as modifying firmware, programming keys, or controlling antilock brake actuators, these systems are not implemented universally and have a limited number of seed/key pairs.

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at a higher data rate to improve throughput, which is particularly useful in electrically noisy environments for better noise immunity. CAN FD also introduces a flexible data field size, increasing the maximum size from 8 bytes to 64 bytes. This flexibility allows for more efficient data transmission by reducing the number of frames needed for large data transfers, which is beneficial for applications like high-resolution sensor data or software updates.

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electrical engineering convention that power sources are terminated at female connectors. Adoption of this standard avoids the need to fabricate custom splitters to connect two sets of bus wires to a single D connector at each node. Such nonstandard (custom) wire harnesses (splitters) that join conductors outside the node reduce bus reliability, eliminate cable interchangeability, reduce compatibility of wiring harnesses, and increase cost.

1615:-2:2003, which is now widely accepted. However, the mechanical aspects of the physical layer (connector type and number, colors, labels, pin-outs) have yet to be formally specified. As a result, an automotive ECU will typically have a particular—often custom—connector with various sorts of cables, of which two are the CAN bus lines. Nonetheless, several de facto standards for mechanical implementation have emerged, the most common being the 1505: 36: 1007: 77: 268: 3806: 871: 191: 124: 1169: 1266:

recessive bit then there is a collision and the dominant bit wins. This means there is no delay to the higher-priority message, and the node transmitting the lower-priority message automatically attempts to re-transmit six-bit clocks after the end of the dominant message. This makes CAN very suitable as a real-time prioritized communications system.

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active error flag. The overload flag's form destroys the fixed form of the intermission field. As a consequence, all other stations also detect an overload condition and on their part start transmission of an overload flag. Overload Delimiter consists of eight recessive bits. The overload delimiter is of the same form as the error delimiter.

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it knows that no receiver found a valid frame. A receiving node may transmit a recessive to indicate that it did not receive a valid frame, but another node that did receive a valid frame may override this with a dominant. The transmitting node cannot know that the message has been received by all of the nodes on the CAN network.

3027:, device addressing, and transportation of data blocks larger than one message, and above all, application data, many implementations of higher layer protocols were created. Several are standardized for a business area, although all can be extended by each manufacturer. For passenger cars, each manufacturer has its own standard. 1516:

process is done continuously at every recessive to dominant transition to ensure the transmitter and receiver stay in sync. Continuously resynchronizing reduces errors induced by noise, and allows a receiving node that was synchronized to a node that lost arbitration to resynchronize to the node which won arbitration.

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required to ensure that all messages would meet their deadlines. However, if IDs are instead determined based on the deadline of the message, the lower the numerical ID and hence the higher the message priority, then bus use of 70 to 80% can typically be achieved before any message deadlines are missed.

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1.0, or CAN with Flexible Data-Rate. This specification uses a different frame format that allows a different data length as well as optionally switching to a faster bit rate after the arbitration is decided. CAN FD is compatible with existing CAN 2.0 networks so new CAN FD devices can coexist on the

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Bosch published several versions of the CAN specification. The latest is CAN 2.0, published in 1991. This specification has two parts. Part A is for the standard format with an 11-bit identifier, and part B is for the extended format with a 29-bit identifier. A CAN device that uses 11-bit identifiers

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CAN is a low-level protocol and does not support any security features intrinsically. There is also no encryption in standard CAN implementations, which leaves these networks open to man-in-the-middle frame interception. In most implementations, applications are expected to deploy their own security

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Mbit/s for use within road vehicles. It describes the medium access unit functions as well as some medium-dependent interface features according to ISO 8802-2. This represents an extension of ISO 11898-2, dealing with new functionality for systems requiring low-power consumption features while there

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All fields in the frame are stuffed with the exception of the CRC delimiter, ACK field and end of frame which are a fixed size and are not stuffed. In the fields where bit stuffing is used, six consecutive bits of the same polarity (111111 or 000000) are considered an error. An active error flag can

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The acknowledge slot is used to acknowledge the receipt of a valid CAN frame. Each node that receives the frame, without finding an error, transmits a dominant level in the ACK slot and thus overrides the recessive level of the transmitter. If a transmitter detects a recessive level in the ACK slot,

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The start of an overload frame due to case 1 is only allowed to be started at the first bit time of an expected intermission, whereas overload frames due to case 2 start one bit after detecting the dominant bit. Overload Flag consists of six dominant bits. The overall form corresponds to that of the

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supports a length of 29 bits for the identifier, made up of the 11-bit identifier (base identifier) and an 18-bit extension (identifier extension). The distinction between CAN base frame format and CAN extended frame format is made by using the IDE bit, which is transmitted as dominant in case of an

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V. Multiple access on such systems normally relies on the media supporting three states (active high, active low and inactive tri-state) and is dealt with in the time domain. Multiple access on CAN bus is achieved by the electrical logic of the system supporting just two states that are conceptually

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The absence of a complete physical layer specification (mechanical in addition to electrical) freed the CAN bus specification from the constraints and complexity of physical implementation. However, it left CAN bus implementations open to interoperability issues due to mechanical incompatibility. In

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signals. Two signals, CAN high (CANH) and CAN low (CANL) are either driven to a "dominant" state with CANH > CANL, or not driven and pulled by passive resistors to a "recessive" state with CANH ≤ CANL. A 0 data bit encodes a dominant state, while a 1 data bit encodes a recessive state, supporting

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and released in 2012 to meet the need for increased data transfer in modern high-performance vehicles. It offers variable data rates during the transmission of a single frame, allowing the arbitration phase to occur at a lower data rate for robust communication, while the data payload is transmitted

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Due to its legacy, CAN 2.0 is the most widely used protocol with a maximum payload size of eight bytes and a typical baud rate of 500 kbit/s. Classical CAN, which includes CAN 2.0A (Standard CAN) and CAN 2.0B (Extended CAN), primarily differs in identifier field lengths: CAN 2.0A uses an 11-bit

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functionality takes input from the vehicle's tilt sensor (also used by the burglar alarm) and the road speed sensors (also used by the ABS, engine control and traction control) via the CAN bus to determine if the vehicle is stopped on an incline. Similarly, inputs from seat belt sensors (part of the

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V linearly regulated supply voltage for the transceivers from the universal supply rail provided by the bus. This usually allows operating margin on the supply rail sufficient to allow interoperability across many node types. Typical values of supply voltage on such networks are 7 to 30 V. However,

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With both high-speed and low-speed CAN, the speed of the transition is faster when a recessive-to-dominant transition occurs since the CAN wires are being actively driven. The speed of the dominant-to-recessive transition depends primarily on the length of the CAN network and the capacitance of the

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Sensors can be placed at the most suitable place, and their data used by several ECUs. For example, outdoor temperature sensors (conventionally placed in the front) can be placed in the outside mirrors, avoiding heating by the engine, and data used by the engine, the climate control, and the driver

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An undesirable side effect of the bit stuffing scheme is that a small number of bit errors in a received message may corrupt the destuffing process, causing a larger number of errors to propagate through the destuffed message. This reduces the level of protection that would otherwise be offered by

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bit of the next frame. Overload frames and error frames are not preceded by an interframe space and multiple overload frames are not separated by an interframe space. Interframe space contains the bit fields intermission and bus idle, and suspend transmission for error passive stations, which have

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Most of the CAN standard applies to the transfer layer. The transfer layer receives messages from the physical layer and transmits those messages to the object layer. The transfer layer is responsible for bit timing and synchronization, message framing, arbitration, acknowledgment, error detection

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Synchronization is important during arbitration since the nodes in arbitration must be able to see both their transmitted data and the other nodes' transmitted data at the same time. Synchronization is also important to ensure that variations in oscillator timing between nodes do not cause errors.

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When ID bit 4 is transmitted, the node with the ID of 16 transmits a 1 (recessive) for its ID, and the node with the ID of 15 transmits a 0 (dominant) for its ID. When this happens, the node with the ID of 16 knows it transmitted a 1, but sees a 0 and realizes that there is a collision and it lost

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For example, consider an 11-bit ID CAN network, with two nodes with IDs of 15 (binary representation, 00000001111) and 16 (binary representation, 00000010000). If these two nodes transmit at the same time, each will first transmit the start bit then transmit the first six zeros of their ID with no

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CAN FD maintains backward compatibility with CAN 2.0 devices by using the same frame format as CAN 2.0B, with the addition of a new control field to indicate whether the frame is a CAN FD frame or a standard CAN 2.0 frame. This allows CAN FD devices to coexist with CAN 2.0 devices on the same bus,

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control systems. It works on extending the features, improves technical content and ensures that the current legal standards for lift control systems are met. The first version of CiA 417 was published (available for CiA members) in summer 2003, version 2.0 in February 2010, version 2.1.0 in July

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specifies time-triggered communication in the CAN (TTCAN). It is applicable to setting up a time-triggered interchange of digital information between electronic control units (ECU) of road vehicles equipped with CAN, and specifies the frame synchronization entity that coordinates the operation of

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11-bit frame, and transmitted as recessive in case of a 29-bit frame. CAN controllers that support extended frame format messages are also able to send and receive messages in CAN base frame format. All frames begin with a start-of-frame (SOF) bit that denotes the start of the frame transmission.

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During a recessive state, the signal lines and resistor(s) remain in a high-impedance state with respect to both rails. Voltages on both CAN+ and CAN− tend (weakly) towards a voltage midway between the rails. A recessive state is present on the bus only when none of the transmitters on the bus is

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Synchronization starts with a hard synchronization on the first recessive to dominant transition after a period of bus idle (the start bit). Resynchronization occurs on every recessive to dominant transition during the frame. The CAN controller expects the transition to occur at a multiple of the

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The exact voltages for a logical 0 or 1 depend on the physical layer used, but the basic principle of CAN requires that each node listen to the data on the CAN network including the transmitting node(s) itself (themselves). If a logical 1 is transmitted by all transmitting nodes at the same time,

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systems: when the driver engages reverse gear, the transmission control unit can send a signal via the CAN bus to activate both the parking sensor system and the door control module for the passenger side door mirror to tilt downward to show the position of the curb. The CAN bus also takes inputs

1670:-2:2003 is achieved by maintaining the differential impedance of the bus at a low level with low-value resistors (120 ohms) at each end of the bus. However, when dormant, a low-impedance bus such as CAN draws more current (and power) than other voltage-based signaling buses. On CAN bus systems, 1515:

A transition that occurs before or after it is expected causes the controller to calculate the time difference and lengthen phase segment 1 or shorten phase segment 2 by this time. This effectively adjusts the timing of the receiver to the transmitter to synchronize them. This resynchronization

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All nodes on the CAN network must operate at the same nominal bit rate, but noise, phase shifts, oscillator tolerance and oscillator drift mean that the actual bit rate might not be the nominal bit rate. Since a separate clock signal is not used, a means of synchronizing the nodes is necessary.

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In the early 1990s, the choice of IDs for messages was done simply on the basis of identifying the type of data and the sending node; however, as the ID is also used as the message priority, this led to poor real-time performance. In those scenarios, a low CAN bus use of around 30% was commonly

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bits, where dominant is a logical 0 (actively driven to a voltage by the transmitter) and recessive is a logical 1 (passively returned to a voltage by a resistor). The idle state is represented by the recessive level (Logical 1). If one node transmits a dominant bit and another node transmits a

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Typically the CAN bus monitor will listen to the traffic on the CAN bus in order to display it in a user interface. Often the CAN bus monitor offers the possibility to simulate CAN bus activity by sending CAN frames to the bus. The CAN bus monitor can therefore be used to validate expected CAN

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mechanical standard for CAN could be implemented with the node having both male and female 9-pin D-sub connectors electrically wired to each other in parallel within the node. Bus power is fed to a node's male connector and the bus draws power from the node's female connector. This follows the

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Bosch holds patents on the technology, though those related to the original protocol have now expired. Manufacturers of CAN-compatible microprocessors pay license fees to Bosch for use of the CAN trademark and any of the newer patents related to CAN FD, and these are normally passed on to the

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consists primarily of the ID (identifier), which represents the priority of the message, and up to eight data bytes. A CRC, acknowledge slot and other overhead are also part of the message. The improved CAN FD extends the length of the data section to up to 64 bytes per frame. The message is

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Mbit/s for use within road vehicles. It describes the medium access unit functions as well as some medium-dependent interface features according to ISO 8802-2. This represents an extension of ISO 11898-2 and ISO 11898-5, specifying a selective wake-up mechanism using configurable CAN frames.

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protocol with only abstract requirements for the physical layer, e.g., asserting the use of a medium with multiple-access at the bit level through the use of dominant and recessive states. The electrical aspects of the physical layer (voltage, current, number of conductors) were specified in

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CAN XL, specified by CiA 610-1 and standardized as part of ISO11898-1, supports up to 2,048-byte payloads and data rates up to 20 Mbit/s. It bridges the gap between CAN FD and Ethernet (100BASE-T1) while maintaining CAN's collision-resolution benefits. CAN XL controllers can also handle

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CAN DBC files are standardized ASCII files used to define messages sent over a CAN bus. They define the format and purpose of each type of message, including the message IDs, signal names, scaling, offsets, and data types, and provide an interoperable aid to developing CAN bus applications.

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CAN data transmission uses a lossless bitwise arbitration method of contention resolution. This arbitration method requires all nodes on the CAN network to be synchronized to sample every bit on the CAN network at the same time. This is why some call CAN synchronous. Unfortunately the term

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V rail running along the bus to maintain a high degree of voltage association between the nodes. Also, in the de facto mechanical configuration mentioned above, a supply rail is included to distribute power to each of the transceiver nodes. The design provides a common supply for all the

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There are two differences between a data frame and a remote frame. Firstly the RTR-bit is transmitted as a dominant bit in the data frame and secondly in the remote frame there is no data field. The DLC field indicates the data length of the requested message (not the transmitted

537:, and ISO 11898-2 which covers the CAN physical layer for high-speed CAN. ISO 11898-3 was released later and covers the CAN physical layer for low-speed, fault-tolerant CAN. The physical layer standards ISO 11898-2 and ISO 11898-3 are not part of the Bosch CAN 2.0 specification. 2219:

It is physically possible for a value between 9–15 to be transmitted in the 4-bit DLC, although the data is still limited to eight bytes. Certain controllers allow the transmission or reception of a DLC greater than eight, but the actual data length is always limited to eight

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is the size of the frame before stuffing, in the worst case one bit will be added every four original bits after the first one (hence the −1 at the numerator) and, because of the layout of the bits of the header, only 34 out of 44 of them can be subject to bit stuffing.

1704:-2 describes the electrical implementation formed from a multi-dropped single-ended balanced line configuration with resistor termination at each end of the bus. In this configuration a dominant state is asserted by one or more transmitters switching the CAN− to supply 0 3005:

establishes test cases and test requirements to realize a test plan verifying if the CAN transceiver with implemented selective wake-up functions conform to the specified functionalities. The kind of testing defined in ISO 16845-2:2018 is named as conformance testing.

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transceivers. The actual voltage to be applied by the bus and which nodes apply to it are application-specific and not formally specified. Common practice node design provides each node with transceivers that are optically isolated from their node host and derive a 5

661:: Various sensor inputs from around the vehicle (speed sensors, steering angle, air conditioning on/off, engine temperature) are collated via the CAN bus to determine whether the engine can be shut down when stationary for improved fuel economy and emissions. 2362:

Data frames and remote frames are separated from preceding frames by a bit field called interframe space. Interframe space consists of at least three consecutive recessive (1) bits. Following that, if a dominant bit is detected, it will be regarded as the

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V bus voltage thereby forming a current path through the resistors that terminate the bus. As such the terminating resistors form an essential component of the signaling system, and are included, not just to limit wave reflection at high frequency.

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The adjustment is accomplished by dividing each bit into a number of time slices called quanta, and assigning some number of quanta to each of the four segments within the bit: synchronization, propagation, phase segment 1 and phase segment 2.

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kbit/s), uses a linear bus, star bus or multiple star buses connected by a linear bus and is terminated at each node by a fraction of the overall termination resistance. The overall termination resistance should be close to, but not less than,

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Generally data transmission is performed on an autonomous basis with the data source node (e.g., a sensor) sending out a data frame. It is also possible, however, for a destination node to request the data from the source by sending a remote

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systems: The inputs from the parking sensors are also used by the CAN bus to feed outside proximity data to driver assist systems such as Lane Departure warning, and more recently, these signals travel through the CAN bus to actuate

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arbitration. Node 16 stops transmitting which allows the node with ID of 15 to continue its transmission without any loss of data. The node with the lowest ID will always win the arbitration and therefore has the highest priority.

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High-speed CAN is usually used in automotive and industrial applications where the bus runs from one end of the environment to the other. Fault-tolerant CAN is often used where groups of nodes need to be connected together.

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Bit stuffing means that data frames may be larger than one would expect by simply enumerating the bits shown in the tables above. The maximum increase in size of a CAN frame (base format) after bit stuffing is in the case

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V when any device is transmitting a dominant (0), while if no device is transmitting a dominant, the terminating resistors passively return the two wires to the recessive (1) state with a nominal differential voltage of

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specifies low-speed, fault-tolerant, medium-dependent interface for setting up an interchange of digital information between electronic control units of road vehicles equipped with the CAN at transmission rates above

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up to an embedded computer running extensive software. Such a computer may also be a gateway allowing a general-purpose computer (like a laptop) to communicate over a USB or Ethernet port to the devices on a CAN bus.

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the CRC against the original errors. This deficiency of the protocol has been addressed in CAN FD frames by the use of a combination of fixed stuff bits and a counter that records the number of stuff bits inserted.

2822: 2671: 2509: 724:(Local Interconnect Network) standard has been introduced to complement CAN for non-critical subsystems such as air-conditioning and infotainment, where data transmission speed and reliability are less critical. 2940:

Mbit/s) medium access unit (MAU), and some medium-dependent interface (MDI) features (according to ISO 8802-3), which comprise the physical layer of the controller area network. ISO 11898-2 uses a two-wire

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Receiving: the CAN controller stores the received serial bits from the bus until an entire message is available, which can then be fetched by the host processor (usually by the CAN controller triggering an

1759:) formats: the standard or base frame format (described in CAN 2.0 A and CAN 2.0 B), and the extended frame format (described only by CAN 2.0 B). The only difference between the two formats is that the 453:

standard designed to enable efficient communication primarily between electronic control units (ECUs). Originally developed to reduce the complexity and cost of electrical wiring in automobiles through

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Low-speed fault-tolerant CAN signaling operates similarly to high-speed CAN, but with larger voltage swings. The dominant state is transmitted by driving CANH towards the device power supply voltage (5

3033:(CiA) is the international users' and manufacturers' organization that develops and supports CAN-based higher-layer protocols and their international standardization. Among these specifications are: 1131:

High-speed CAN uses a 120 Ω resistor at each end of a linear bus. Low-speed CAN uses resistors at each node. Other types of terminations may be used such as the Terminating Bias Circuit defined in

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In the event of a data frame and a remote frame with the same identifier being transmitted at the same time, the data frame wins arbitration due to the dominant RTR bit following the identifier.

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is commonly called CAN 2.0A, and a CAN device that uses 29-bit identifiers is commonly called CAN 2.0B. These standards are freely available from Bosch along with other specifications and

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The overload frame contains the two bit fields: Overload Flag and Overload Delimiter. There are two kinds of overload conditions that can lead to the transmission of an overload flag:

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During a dominant state, the signal lines and resistor(s) move to a low-impedance state with respect to the rails so that current flows through the resistor. CAN+ voltage tends to +5

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are tools that collect, analyse, decode and store signals so people can view the high-speed waveforms at their leisure. There are also specialist tools as well as CAN bus monitors.

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The number of quanta the bit is divided into can vary by controller, and the number of quanta assigned to each segment can be varied depending on bit rate and network conditions.

3902: 470:, allowing the highest priority device to continue transmitting if multiple devices attempt to send data simultaneously, while others back off. Its reliability is enhanced by 3892: 1731:

Irrespective of signal state the signal lines are always in a low-impedance state with respect to one another by virtue of the terminating resistors at the end of the bus.

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The CAN bus protocol is widely implemented due to its fault tolerance in electrically noisy environments such as model railroad sensor feedback systems by major commercial

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To ensure enough transitions to maintain synchronization, a bit of opposite polarity is inserted after five consecutive bits of the same polarity. This practice is called

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The CAN standard requires that the implementation must accept the base frame format and may accept the extended frame format, but must tolerate the extended frame format.

3368: 704:) via the CAN bus to the ABS module to initiate an imperceptible application of the brakes while driving to clear moisture from the brake rotors. Some high-performance 2870: 2719: 1472:

standard allows increasing the bit rate after arbitration and can increase the speed of the data section by a factor of up to ten or more of the arbitration bit rate.

2846: 2695: 1742:, etc. which employ differential line drivers/ receivers and use a signaling system based on the differential mode voltage of the balanced line crossing a notional 0 1212:

Receiving: it converts the data stream from CAN bus levels to levels that the CAN controller uses. It usually has protective circuitry to protect the CAN controller.

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and provides the characteristics for setting up an interchange of digital information between modules implementing the CAN DLL with detailed specification of the

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model) of serial communication category called controller area network that supports distributed real-time control and multiplexing for use within road vehicles.

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be transmitted by a node when an error has been detected. The active error flag consists of six consecutive dominant bits and violates the rule of bit stuffing.

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Comparison of Event-Triggered and Time-Triggered Concepts with Regard to Distributed Control Systems A. Albert, Robert Bosch GmbH Embedded World, 2004, Nürnberg

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Message IDs must be unique on a single CAN bus, otherwise two nodes would continue transmission beyond the end of the arbitration field (ID) causing an error.

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is a major application domain). Two or more nodes are required on the CAN bus to communicate. A node may interface to devices from simple digital logic e.g.

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airbag controls) are fed from the CAN bus to determine if the seat belts are fastened, so that the parking brake will automatically release upon moving off.

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operation, where current in one signal line is exactly balanced by current in the opposite direction in the other signal provides an independent, stable 0

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nominal bit time. If the transition does not occur at the exact time the controller expects it, the controller adjusts the nominal bit time accordingly.

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The specifications require the bus be kept within a minimum and maximum common mode bus voltage but do not define how to keep the bus within this range.

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The stuffing bit itself may be the first of the five consecutive identical bits, so in the worst case there is one stuffing bit per four original bits.

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provides the methodology and abstract test suite necessary for checking the conformance of any CAN implementation of the CAN specified in ISO 11898-1.

552:(OBD)-II vehicle diagnostics standard. The OBD-II standard has been mandatory for all cars and light trucks sold in the United States since 1996. The 3942: 1201:

Sending: the host processor sends the transmit message(s) to a CAN controller, which transmits the bits serially onto the bus when the bus is free.

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same network with existing CAN devices, using the same CAN 2.0 communication parameters. As of 2018, Bosch was active in extending CAN standards.

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containing CAN-compatible modules need to pay a fee for the CAN Protocol License if they wish to use the CAN trademark or CAN FD capabilities.

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of the controller area network (CAN). This document describes the general architecture of CAN in terms of hierarchical layers according to the

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wires in a shielded cable to minimize RF emission and reduce interference susceptibility in the already noisy RF environment of an automobile.

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Classical CAN and CAN FD communication, ensuring compatibility in mixed networks. Its large data fields allow for higher layer protocols like

3150: 771:'s Modular Prosthetic Limb (MPL) uses a local CAN bus to facilitate communication between servos and microcontrollers in the prosthetic arm. 3131: 2760: 2609: 2447: 2350:

Often, the mode of operation of the device is to re-transmit unacknowledged frames over and over. This may lead to eventually entering the

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Interfaces are listed by their speed in the (roughly) ascending order, so the interface at the end of each section should be the fastest.

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The CANopen Special Interest Group (SIG) "Lift Control", which was founded in 2001, develops the CANopen application profile CiA 417 for

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traffic from a given device or to simulate CAN traffic in order to validate the reaction from a given device connected to the CAN bus.

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CAN frame before and after the addition of stuff bits (in purple). An incorrect CRC is used for bit stuffing illustration purposes.

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both logical link and media access controls in accordance with ISO 11898-1, to provide the time-triggered communication schedule.

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The first field is given by the superposition of ERROR FLAGS (6–12 dominant/recessive bits) contributed from different stations.

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standard has been mandatory for all petrol vehicles sold in the European Union since 2001 and all diesel vehicles since 2004.

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Freeware Bit-Timing calculator for Windows, supports a lot of microcontrollers, e.g. Atmel, STM32, Microchip, Renesas, ...

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V. This allows a simpler receiver that just considers the sign of CANH−CANL. Both wires must be able to handle −27 to +40

4107: 3603: 4909: 4780: 4454: 4293: 4223: 3501: 3604:"ISO 11898-1:2003 - Road vehicles -- Controller area network (CAN) -- Part 1: Data link layer and physical signalling" 3518: 4887: 4283: 3873: 3854: 3745: 917: 245: 227: 172: 63: 3879: 1093:

V when transmitting a dominant (0), while the termination resistors pull the bus to a recessive state with CANH at 0

5319: 5200: 5105: 4882: 4381: 3542:

ISO 11898-1:2015 – Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling

840:

while higher data rates and larger data payloads are available only when communicating with other CAN FD devices.

3457: 2291:

six recessive bits – Transmitted by a node detecting an active error frame on the network that is in error state

1254:

synchronous is imprecise since the data is transmitted in an asynchronous format, namely without a clock signal.

533:(ISO) released CAN standard ISO 11898, which was later restructured into two parts: ISO 11898-1 which covers the 495: 3705: 5416: 5095: 4173: 5411: 4867: 4773: 4725: 4376: 4345: 789:

range uses CAN bus protocol over coaxial cable, to connect its CSSC – Desktop Scroll Control to the main unit

3998: 3947: 3561:

Automotive cybersecurity engineering handbook: the automotive engineer's roadmap to cyber-resilient vehicles

2311:

When TEC or REC is greater than 127 and less than 255, a Passive Error frame will be transmitted on the bus.

2148: 1938: 5145: 5135: 4796: 4323: 2317:

When TEC is greater than 255, then the node enters into Bus Off state, where no frames will be transmitted.

5349: 4820: 4649: 4588: 4443: 3125: 1734:

This signaling strategy differs significantly from other balanced line transmission technologies such as

1698:

the lack of a formal standard means that system designers are responsible for supply rail compatibility.

1678:

V reference for the receivers. Best practice determines that CAN bus balanced pair signals be carried in

748:

in general automation environments, primarily due to the low cost of some CAN controllers and processors.

3908: 3617: 5401: 5354: 5027: 4825: 4248: 4013: 3242:

When developing or troubleshooting the CAN bus, examination of hardware signals can be very important.

775: 768: 721: 4618: 5100: 5009: 4303: 2330:

The internal conditions of a receiver, which requires a delay of the next data frame or remote frame.

947: 886: 459: 3204:(Very Simple Control Protocol) a free automation protocol suitable for all sorts of automation tasks 761:

using the game's GPS Data Logger function, which would then allow players to race against real laps.

5421: 5080: 5032: 3836: 3832: 3816: 2281:

six dominant bits – Transmitted by a node detecting an error on the network that is in error state

963: 899: 764: 737:

DI2 electronic gear shift system for road bicycles since 2009, and is also used by the Ansmann and

635: 627: 154: 150: 134: 49: 1186:

The host processor decides what the received messages mean and what messages it wants to transmit.

5312: 5230: 5170: 5140: 4756: 4731: 4623: 4278: 1242: 1180: 943: 793: 619: 471: 90: 3587: 553: 4897: 4313: 3195: 1812: 1688:-2 provides some immunity to common mode voltage between transmitter and receiver by having a 0 1153: 970: 3952: 2852: 2701: 1793:

The data frame is the only frame for actual data transmission. There are two message formats:

5406: 5344: 4902: 4577: 4530: 4386: 4158: 4006: 3315: 2927: 2828: 2677: 1149: 467: 3932: 5370: 4573: 4426: 4308: 3660: 2923: 2730: 2579: 2524: 2115:

Reserved bits which must be set dominant (0), but accepted as either dominant or recessive

549: 407: 281: 3937: 3324: – Serial communications protocol mainly developed for programmable logic controllers 1148:

and ground in addition to the CAN signaling on a four-wire cable. This provides automatic

8: 5042: 4892: 4485: 4040: 3024: 1014:

High-speed CAN signaling drives the CANH wire towards 3.5 V and the CANL wire towards 1.5

799: 700:

Auto brake wiping: Input is taken from the rain sensor (used primarily for the automatic

689: 664: 623: 474:, which mitigates electrical noise. Common versions of the CAN protocol include CAN 2.0, 3723: 3354: 2314:

When TEC and REC is less than 128, an Active Error frame will be transmitted on the bus.

1160:. An ISO11783 network is designed for hot plug-in and removal of bus segments and ECUs. 478:, and CAN XL which vary in their data rate capabilities and maximum data payload sizes. 4872: 4857: 4029: 3642: 2395: 1594: 1524:

The CAN protocol, like many networking protocols, can be decomposed into the following

1227: 854: 515: 2100:

Must be dominant (0) for data frames and recessive (1) for remote request frames (see

1879:

Must be dominant (0) for data frames and recessive (1) for remote request frames (see

1816:

A complete CAN bus frame, including stuff bits, a correct CRC, and inter-frame spacing

802:

have implemented the protocol as DiveCAN to use integrating their dive computers into

4924: 4475: 4097: 4033: 3928:

Controller Area Network (CAN) Schedulability Analysis: Refuted, Revisited and Revised

3564: 3260: 3030: 2382: 1636: 1525: 1221:

Each node is able to send and receive messages, but not simultaneously. A message or

1125: 977:

a wired-AND convention, which gives nodes with lower ID numbers priority on the bus.

881: 803: 796:

system manufacturers and various open-source digital model railroad control projects.

677: 658: 499: 491: 1215:

Transmitting: it converts the data stream from the CAN controller to CAN bus levels.

626:. Others are used for autonomous driving, advanced driver assistance system (ADAS), 5396: 5243: 5238: 5065: 4979: 4208: 2398:(NRZ) coding used with CAN. The stuffed data frames are destuffed by the receiver. 1003:

Mbit/s on CAN-FD), uses a linear bus terminated at each end with a 120 Ω resistor.

936: 701: 2089:

Second part of the (unique) identifier which also represents the message priority

1905:

Reserved bit. Must be dominant (0), but accepted as either dominant or recessive.

5364: 5022: 4338: 4188: 4168: 4043: 3824: 3461: 2907: 2056:

First part of the (unique) identifier which also represents the message priority

1157: 1124:

The CAN bus must be terminated. The termination resistors are needed to suppress

832: 534: 518:

was the first production vehicle to feature a CAN-based multiplex wiring system.

487: 463: 284: 205: 142: 3984: 3330: – High-speed multimedia network technology used in the automotive industry 1820:

The frame format is as follows: The bit values are described for CAN-LO signal.

4639: 4333: 4258: 4183: 4087: 4062: 3243: 3167: 3157: 2897: 1616: 1145: 757: 643: 639: 3927: 1241:, and other control devices. These devices are connected to the bus through a 1189:

Sensors, actuators and control devices can be connected to the host processor.

458:, the CAN bus protocol has since been adopted in various other contexts. This 5390: 4852: 4711: 4598: 4490: 4438: 4421: 4203: 4102: 4092: 4067: 4028: 2942: 1671: 942:

standard for connecting electronic control units (ECUs) also known as nodes (

694: 594: 565:

Passenger vehicles, trucks, buses (combustion vehicles and electric vehicles)

3318: – List of single collision domain electronic communication bus systems 3023:

As the CAN standard does not include common communication features, such as

466:

protocol ensures data integrity and prioritization through a process called

5150: 4939: 4919: 4810: 4448: 4391: 4243: 4148: 3643:"Evaluation of admissible CAN bus load with weak synchronization mechanism" 3247: 3144: 2391: 2377: 2227:

The two identifier fields (A & B) combine to form a 29-bit identifier.

2172:

Transmitter sends recessive (1) and any receiver can assert a dominant (0)

1962:

Transmitter sends recessive (1) and any receiver can assert a dominant (0)

1679: 1031:

V. The dominant common mode voltage (CANH+CANL)/2 must be within 1.5 to 3.5

831:

CAN FD (Flexible Data-Rate), standardized as ISO 11898-1, was developed by

786: 755:

aim to use CAN bus data to recreate real-life racing laps in the videogame

647: 455: 55: 3963: 3647:

Proc. of the 24th Int. Conf. on Real-Time Networks and Systems (RTNS 2017)

3540: 3218:

2012, version 2.2.0 in December 2015, and version 2.3.1 in February 2020.

1778:

Remote frame: a frame requesting the transmission of a specific identifier

5274: 5188: 5183: 4877: 4716: 4695: 4613: 4458: 4396: 4371: 4298: 4082: 4077: 3280:

customer in the price of the chip. Manufacturers of products with custom

3179: 1206: 1042: 980: 685: 681:

from the rain sensor to trigger the rear windscreen wiper when reversing.

669: 523: 450: 411: 4535: 2078:

Must be recessive (1) for extended frame format with 29-bit identifiers

958:

All nodes are connected to each other through a physically conventional

4999: 4984: 4847: 4765: 4569: 4268: 4057: 3183: 3072: 3056: 2946: 2911: 1755:

A CAN network can be configured to work with two different message (or

1607: 1035:

V of common, while the recessive common mode voltage must be within ±12

939: 850: 299: 27:

Standard for serial communication between devices without host computer

3943:

Controller Area Network (CAN) Schedulability Analysis with FIFO Queues

3452: 1784:

Overload frame: a frame to inject a delay between data or remote frame

1073: 5339: 5334: 5307: 5302: 5287: 5253: 5248: 5210: 5205: 5178: 5125: 5017: 4944: 4840: 4593: 4583: 4550: 4545: 4480: 4355: 4143: 4128: 4123: 3303: 3221:

Jörg Hellmich (ELFIN GmbH) is the chairman of this SIG and manages a

3113: 3107: 3089: 3082: 3078: 3068: 3062: 2919: 2915: 2817:{\displaystyle 8n+64+\left\lfloor {\frac {54+8n-1}{4}}\right\rfloor } 2666:{\displaystyle 8n+44+\left\lfloor {\frac {34+8n-1}{4}}\right\rfloor } 2504:{\displaystyle 8n+44+\left\lfloor {\frac {34+8n-1}{4}}\right\rfloor } 2270:

The following second field is the ERROR DELIMITER (8 recessive bits).

1701: 1685: 1667: 1612: 1603: 1238: 1132: 973: 3980:

Understanding and Using the Controller Area Network from UC Berkeley

1460:

m. Decreasing the bit rate allows longer network distances (e.g. 500

1027:

V to be recessive.) The dominant differential voltage is a nominal 2

622:(ECUs) for various subsystems. Usually the biggest processor is the 5359: 5220: 4989: 4974: 4969: 4964: 4929: 4862: 4603: 4540: 4273: 4133: 3835:

external links, and converting useful links where appropriate into

3484:"NISMO Increases GT6 GPS Data Logger Functionality and Track Count" 3327: 3264: 3214: 1894:

Must be dominant (0) for base frame format with 11-bit identifiers

1650: 1449: 745: 503: 153:

external links, and converting useful links where appropriate into

1504: 5324: 5115: 5090: 5060: 4994: 4954: 4934: 4835: 4736: 4690: 4674: 4500: 4318: 4263: 4198: 4153: 3309: 3297: 3052: 2890: 1854:

A (unique) identifier which also represents the message priority

1234: 734: 589: 511: 381: 3974: 2945:

signaling scheme. It is the most used physical layer in vehicle

2022:

The frame format is as follows on from here in the table below:

1865:

A bit of the opposite polarity to maintain synchronisation; see

1023:

V. (Receivers consider any differential voltage of less than 0.5

76: 5375: 5263: 5258: 5215: 5160: 5155: 5120: 5055: 5050: 4949: 4669: 4560: 4525: 4520: 4515: 4510: 4328: 4218: 4178: 4138: 3993: 3321: 3222: 3189: 3101: 3095: 2988:

specifies the CAN physical layer for transmission rates up to 1

2977:

specifies the CAN physical layer for transmission rates up to 1

1927:

Data to be transmitted (length in bytes dictated by DLC field)

1781:

Error frame: a frame transmitted by any node detecting an error

1739: 1735: 1660: 1469: 825: 631: 541: 475: 389: 4654: 4565: 2889:

specifies physical and data link layer (levels 1 and 2 of the

1233:

The devices that are connected by a CAN network are typically

1194:

CAN controller- often an integral part of the microcontroller

5329: 5085: 5070: 4664: 4555: 4495: 4433: 4406: 4288: 4238: 4163: 3267:, used during development of hardware that uses the CAN bus. 3163: 3098:- ISO 15765-2 (transport protocol for automotive diagnostics) 1006: 752: 738: 507: 1598:

CAN bus electrical sample topology with terminator resistors

5195: 5130: 4959: 4659: 4644: 4505: 4416: 4411: 4253: 3706:"CAN BUS MESSAGE FRAMES – Overload Frame, Interframe Space" 3285: 3201: 3173: 1641: 1168: 951: 705: 267: 2916:

ISO reference model for open systems interconnection (OSI)

1128:

as well as return the bus to its recessive or idle state.

654:

using traditional automotive electrics. Examples include:

5110: 4608: 4233: 4228: 3969: 1775:

Data frame: a frame containing node data for transmission

1763:

supports a length of 11 bits for the identifier, and the

709: 3519:"ISO11783 a Standardized Tractor – Implement Interface" 3399:"CAN in Automation - Mercedes W140: First car with CAN" 3332:

Pages displaying short descriptions of redirect targets

2936:

specifies the high-speed (transmission rates of up to 1

1209:

Defined by ISO 11898-2/3 Medium Access Unit standards

3134:- open standard for the leisure craft/vehicle industry 2137:

Data to be transmitted (length dictated by DLC field)

962:. The wires are a twisted pair with a 120 Ω (nominal) 494:. The protocol was officially released in 1986 at the 3768:"License Conditions CAN Protocol and CAN FD Protocol" 2855: 2831: 2763: 2733: 2704: 2680: 2612: 2582: 2527: 2450: 1508:

An example CAN bit timing with 10 time quanta per bit

506:. The first CAN controller chips were introduced by 272:

Unofficial logo of the CAN bus by CAN-in-Automation.

3018: 1560:and signaling, and fault confinement. It performs: 200:

may be too technical for most readers to understand

3948:Controller Area Network (CAN) Implementation Guide 2864: 2840: 2816: 2748: 2713: 2689: 2665: 2597: 2542: 2503: 2263:The error frame consists of two different fields: 3819:may not follow Knowledge's policies or guidelines 3661:"Understanding Microchip's CAN Module Bit Timing" 548:The CAN bus is one of five protocols used in the 137:may not follow Knowledge's policies or guidelines 5388: 3880:Bosch CAN Specification Version 2.0 (1991, 1997) 3698: 3454:Building Adapter for Vehicle On-board Diagnostic 2333:Detection of a dominant bit during intermission. 571:Electronic equipment for aviation and navigation 4351:Coherent Accelerator Processor Interface (CAPI) 1708:V and (simultaneously) switching CAN+ to the +5 1456:Mbit/s are possible at network lengths below 40 1230:(NRZ) format and may be received by all nodes. 3640: 2949:applications and industrial control networks. 1800:Extended frame format: with 29 identifier bits 1046:Low-speed fault-tolerant CAN bus. ISO 11898-3. 778:widely use CAN bus to communicate between the 531:International Organization for Standardization 4781: 4014: 3893:Bosch CAN-FD Specification Version 1.0 (2012) 2518:is the number of data bytes, a maximum of 8. 2414:which is stuffed as (stuffing bits in bold): 618:The modern automobile may have as many as 70 3959:Free e-learning module "Introduction to CAN" 3618:"CAN_XL, CAN XL, CAN, Bosch_CAN, IP-modules" 3306: – Telecommunications hybrid technology 3259:is an analysis tool, often a combination of 2881: 577:Industrial automation and mechanical control 3055:- CiA 301/302-2 and EN 50325-4 (industrial 1245:, a CAN controller, and a CAN transceiver. 64:Learn how and when to remove these messages 4788: 4774: 4021: 4007: 3746:"We Drove a Car While It Was Being Hacked" 3563:(1st ed.). Birmingham Mumbai: Packt. 3128:(UDS) - ISO 14229 (automotive diagnostics) 3036: 2368:been transmitter of the previous message. 1797:Base frame format: with 11 identifier bits 1226:transmitted serially onto the bus using a 815: 733:The CAN bus protocol has been used on the 266: 3855:Learn how and when to remove this message 3678:"ISO7637-3 diodes protection for CAN bus" 3349: 3347: 3116:(in-vehicle network for buses and trucks) 918:Learn how and when to remove this message 246:Learn how and when to remove this message 228:Learn how and when to remove this message 212:, without removing the technical details. 173:Learn how and when to remove this message 4795: 3876:- includes CAN and CAN-FD specifications 3502:"What is DiveCAN and why should I care?" 3122:(in-vehicle networks for passenger cars) 2381: 2251:RTR = 1 ; RECESSIVE in remote frame 2094:Remote transmission request (RTR) (blue) 2045:Denotes the start of frame transmission 2017: 1873:Remote transmission request (RTR) (blue) 1843:Denotes the start of frame transmission 1811: 1635: 1593: 1503: 1167: 1108: 1072: 1041: 1005: 979: 930: 101:of all important aspects of the article. 3176:- RVIA (used for recreational vehicles) 2441:The size of a base frame is bounded by 1858: 377:0.05, 0.125, 0.250, 0.500, 0.800 or 1.0 14: 5389: 3558: 3344: 3065:-3-3 (use of CANopen in rail vehicles) 1010:High-speed CAN signaling. ISO 11898-2. 697:in active collision avoidance systems. 97:Please consider expanding the lead to 4769: 4002: 3933:Pinouts for common CAN bus connectors 3756:from the original on 8 November 2019. 3641:Daigmorte, Hugo; Boyer, Marc (2017), 3598: 3596: 3582: 3580: 3554: 3552: 3535: 3533: 3531: 2357: 2299:There are two error counters in CAN: 2248:RTR = 0 ; DOMINANT in data frame 1257:The CAN specifications use the terms 1077:Low-speed CAN signaling. ISO 11898-3. 600:Ships and other maritime applications 399:32, 64 or 127 (depending on standard) 210:make it understandable to non-experts 3799: 3513: 3511: 3429:"Bosch Semiconductor CAN Literature" 3423: 3421: 3419: 3237: 2274:There are two types of error flags: 2126:Number of bytes of data (0–8 bytes) 1916:Number of bytes of data (0–8 bytes) 1807: 1747:analogous to a ‘wired AND’ network. 1248: 1183:, microprocessor, or host processor 864: 741:systems in their direct drive motor. 184: 117: 70: 29: 3622:Bosch semiconductors for Automotive 3147:- Stock (for the aviation industry) 3138: 510:in 1987, and shortly thereafter by 24: 3593: 3577: 3549: 3528: 3464:, obddiag.net, accessed 2009-09-09 3375:. 23 February 2016. Archived from 3223:wiki of the CANopen lift community 3153:- Kvaser (embedded control system) 3085:-3 (battery–charger communication) 1606:-1:2003) originally specified the 25: 5433: 3938:A webpage about CAN in automotive 3905:- cost-optimized subset of CAN-FD 3795: 3508: 3416: 3391: 3312: – Computer network protocol 3300: – Computer network protocol 3225:with content about CANopen lift. 2321: 2101: 1880: 1866: 1274:arbitration decision being made. 586:Medical instruments and equipment 45:This article has multiple issues. 5320:Factory Instrumentation Protocol 5201:Factory Instrumentation Protocol 4883:Factory Instrumentation Protocol 4752: 4751: 3804: 3019:CAN-based higher-layer protocols 2982:is no active bus communication. 1475: 984:High-speed CAN bus. ISO 11898-2. 869: 782:and other robot control modules. 712:models incorporate this feature. 189: 122: 75: 34: 3760: 3738: 3720:"Controller Area Network (CAN)" 3712: 3684: 3670: 3653: 3634: 3610: 3208: 3110:- IEC 61162-3 (marine industry) 2371: 2230: 2213: 2120:Data length code (DLC) (yellow) 2061:Substitute remote request (SRR) 2003: 1910:Data length code (DLC) (yellow) 1617:9-pin D-sub type male connector 891:This largely overlaps with the 860: 559: 496:Society of Automotive Engineers 89:may be too short to adequately 53:or discuss these issues on the 3911:- increase data rates up to 20 3722:. Vector Group. Archived from 3494: 3476: 3467: 3446: 3361: 2394:, and is necessary due to the 2258: 2119: 2072:Identifier extension bit (IDE) 1909: 1888:Identifier extension bit (IDE) 744:The CAN bus is also used as a 99:provide an accessible overview 13: 1: 4346:Intel Ultra Path Interconnect 3895:- increase data rates up to 8 3588:International standardization 3369:"Mercedes-Benz S-Class W 140" 3337: 1788: 1547:Message filtering (mailboxes) 1487: 613: 4324:Intel QuickPath Interconnect 4314:Direct Media Interface (DMI) 3274: 3182:- Pilz (used for industrial 3160:(automotive ECU calibration) 2303:Transmit error counter (TEC) 2093: 2082: 2049: 1872: 1847: 1717:asserting a dominant state. 1619:with the following pin-out: 855:tunneling of Ethernet frames 7: 5350:Unified Diagnostic Services 4821:CC-Link Industrial Networks 3966:from Excalibur Systems Inc. 3903:Bosch CAN-FD-Light (future) 3874:ISO 11898-1 Standard (2015) 3291: 3228: 3126:Unified Diagnostic Services 2928:medium access control (MAC) 2341: 2306:Receive error counter (REC) 2130: 1920: 1550:Message and status handling 1222: 892: 889:. The specific problem is: 810: 806:from various manufacturers. 311:; 41 years ago 10: 5438: 4868:Ethernet Global Data (EGD) 4309:Compute Express Link (CXL) 3964:ARINC-825 Tutorial (video) 2924:logical link control (LLC) 2375: 1771:CAN has four frame types: 1537:Application-specific logic 1286: 776:FIRST Robotics Competition 769:Applied Physics Laboratory 481: 5272: 5229: 5169: 5041: 5010:Industrial control system 5008: 4803: 4745: 4704: 4683: 4632: 4546:IEEE-1284 (parallel port) 4468: 4461:logical device interface) 4364: 4116: 4050: 3559:Nasser, Ahmad MK (2023). 2882:CAN lower-layer standards 2199:Inter-frame spacing (IFS) 1989:Inter-frame spacing (IFS) 1750: 1519: 1397: 1289: 1281: 1279: 843: 824: 431: 423: 418: 406: 403: 398: 395: 376: 373: 368: 365: 360: 357: 352: 347: 344: 339: 336: 331: 326: 323: 308: 305: 298: 295: 290: 280: 277: 265: 3692:"CAN bus ESD protection" 3198:(CubeSat Space Protocol) 3192:(aerospace and robotics) 2865:{\displaystyle \leq 157} 2714:{\displaystyle \leq 132} 1582:Transfer rate and timing 1163: 1141:terminating bias circuit 964:characteristic impedance 765:Johns Hopkins University 751:Manufacturers including 727: 620:electronic control units 603:Lighting control systems 540:In 2012, Bosch released 514:. Released in 1991, the 5231:Automatic meter reading 5171:Power-system automation 3649:, Grenoble, France: ACM 3037:Standardized approaches 2841:{\displaystyle \leq 29} 2690:{\displaystyle \leq 24} 2149:Cyclic redundancy check 1939:Cyclic redundancy check 1181:Central processing unit 816:CAN 2.0 (Classical CAN) 794:Digital Command Control 486:Development of the CAN 443:controller area network 261:Controller Area Network 18:Controller-area network 4108:List of bus bandwidths 3166:- General Motors (for 3009: 2896:There are several CAN 2866: 2842: 2818: 2750: 2715: 2691: 2667: 2599: 2544: 2505: 2387: 2205:Must be recessive (1) 2194:Must be recessive (1) 2183:Must be recessive (1) 2161:Must be recessive (1) 2109:Reserved bits (r1, r0) 2067:Must be recessive (1) 1995:Must be recessive (1) 1984:Must be recessive (1) 1973:Must be recessive (1) 1951:Must be recessive (1) 1817: 1645: 1629:pin 7: CAN-High (CAN+) 1599: 1509: 1468:kbit/s). The improved 1290:The rest of the frame 1173: 1089:V), and CANL towards 0 1078: 1047: 1011: 985: 944:automotive electronics 851:IP (Internet Protocol) 568:Agricultural equipment 472:differential signaling 5417:Industrial automation 5345:Keyword Protocol 2000 3985:CAN Protocol Tutorial 3975:CAN Newsletter Online 3909:Bosch CAN-XL (future) 3316:List of network buses 2908:data link layer (DLL) 2900:and other standards: 2867: 2843: 2819: 2751: 2749:{\displaystyle 8n+64} 2716: 2692: 2668: 2600: 2598:{\displaystyle 8n+44} 2545: 2543:{\displaystyle 8n+44} 2506: 2385: 2018:Extended frame format 1815: 1724:V and CAN− tends to 0 1639: 1632:pin 9: CAN V+ (power) 1623:pin 2: CAN-Low (CAN−) 1597: 1507: 1398:Stopped Transmitting 1176:Each node requires a 1171: 1109:Electrical properties 1076: 1045: 1009: 983: 931:Physical organization 720:In recent years, the 580:Elevators, escalators 369:1 bit (bidirectional) 5412:Industrial computing 4797:Automation protocols 4551:IEEE-1394 (FireWire) 4289:PCI Extended (PCI-X) 3825:improve this article 3357:. CAN in Automation. 2853: 2829: 2761: 2731: 2702: 2678: 2610: 2580: 2525: 2448: 2410:11111000011110000... 2083:Identifier B (green) 2050:Identifier A (green) 1156:at each end of each 900:improve this article 885:to meet Knowledge's 665:Electric park brakes 636:antilock braking/ABS 550:on-board diagnostics 498:(SAE) conference in 282:Serial communication 143:improve this article 5043:Building automation 4893:FOUNDATION fieldbus 4392:Parallel ATA (PATA) 3837:footnote references 3708:. 18 November 2009. 3104:(military vehicles) 3049:(aviation industry) 2569:total frame length 1867:§ Bit stuffing 1626:pin 3: GND (ground) 1585:Information routing 995:(bit speeds up to 1 800:Shearwater Research 690:collision avoidance 624:engine control unit 609:Robotics/Automation 583:Building automation 574:Electric generators 490:started in 1983 at 262: 155:footnote references 4873:Ethernet Powerlink 4804:Process automation 4299:PCI Express (PCIe) 3490:. 25 October 2014. 3460:2018-05-14 at the 3403:can-newsletter.org 2862: 2838: 2814: 2746: 2711: 2687: 2663: 2595: 2540: 2501: 2396:non-return-to-zero 2388: 2358:Interframe spacing 2288:Passive Error Flag 2188:End-of-frame (EOF) 1978:End-of-frame (EOF) 1848:Identifier (green) 1818: 1765:CAN extended frame 1666:Noise immunity on 1646: 1600: 1570:Message validation 1526:abstraction layers 1510: 1228:non-return-to-zero 1174: 1105:V without damage. 1079: 1059:fault-tolerant CAN 1048: 1012: 986: 804:diving rebreathers 516:Mercedes-Benz W140 361:Transceiver driven 291:Production history 260: 5402:Computer networks 5384: 5383: 4763: 4762: 4749: 4476:Apple Desktop Bus 4453:PCI Express (via 4412:Serial ATA (SATA) 4098:Network on a chip 3865: 3864: 3857: 3570:978-1-80107-653-1 3373:mercedes-benz.com 3238:Development tools 3031:CAN in Automation 2875: 2874: 2808: 2657: 2495: 2278:Active Error Flag 2209: 2208: 1999: 1998: 1899:Reserved bit (r0) 1808:Base frame format 1564:Fault confinement 1532:Application layer 1443: 1442: 1249:Data transmission 928: 927: 920: 887:quality standards 878:This article may 702:windscreen wipers 646:, audio systems, 492:Robert Bosch GmbH 439: 438: 427:CAN High (Yellow) 256: 255: 248: 238: 237: 230: 183: 182: 175: 116: 115: 68: 16:(Redirected from 5429: 4980:SERCOS interface 4790: 4783: 4776: 4767: 4766: 4755: 4754: 4747: 4209:HP Precision Bus 4023: 4016: 4009: 4000: 3999: 3992:for CAN bus and 3914: 3898: 3882:- also known as 3860: 3853: 3849: 3846: 3840: 3808: 3807: 3800: 3789: 3788: 3786: 3785: 3779: 3773:. Archived from 3772: 3764: 3758: 3757: 3742: 3736: 3735: 3733: 3731: 3726:on 25 April 2016 3716: 3710: 3709: 3702: 3696: 3695: 3688: 3682: 3681: 3674: 3668: 3667: 3665: 3657: 3651: 3650: 3638: 3632: 3631: 3629: 3628: 3614: 3608: 3607: 3600: 3591: 3584: 3575: 3574: 3556: 3547: 3546: 3537: 3526: 3525: 3523: 3515: 3506: 3505: 3504:. 22 March 2016. 3498: 3492: 3491: 3488:www.gtplanet.net 3480: 3474: 3471: 3465: 3450: 3444: 3443: 3441: 3440: 3431:. Archived from 3425: 3414: 3413: 3411: 3409: 3395: 3389: 3388: 3386: 3384: 3365: 3359: 3358: 3351: 3333: 3258: 3257: 3139:Other approaches 3003:ISO 16845-2:2018 2997:ISO 16845-1:2016 2991: 2986:ISO 11898-6:2013 2980: 2975:ISO 11898-5:2007 2968:ISO 11898-4:2004 2963: 2960:kbit/s up to 125 2959: 2953:ISO 11898-3:2006 2939: 2934:ISO 11898-2:2016 2904:ISO 11898-1:2015 2887:ISO 11898 series 2871: 2869: 2868: 2863: 2847: 2845: 2844: 2839: 2823: 2821: 2820: 2815: 2813: 2809: 2804: 2784: 2755: 2753: 2752: 2747: 2720: 2718: 2717: 2712: 2696: 2694: 2693: 2688: 2672: 2670: 2669: 2664: 2662: 2658: 2653: 2633: 2604: 2602: 2601: 2596: 2554: 2553: 2549: 2547: 2546: 2541: 2517: 2510: 2508: 2507: 2502: 2500: 2496: 2491: 2471: 2221: 2217: 2134:0–64 (0-8 bytes) 2131:Data field (red) 2025: 2024: 2011: 2007: 1924:0–64 (0-8 bytes) 1921:Data field (red) 1823: 1822: 1745: 1727: 1723: 1711: 1707: 1696: 1691: 1677: 1644:connector (plug) 1467: 1463: 1459: 1455: 1277: 1276: 1143: 1142: 1104: 1100: 1096: 1092: 1088: 1084: 1069: 1064: 1038: 1034: 1030: 1026: 1022: 1017: 1002: 999:Mbit/s on CAN, 5 998: 923: 916: 912: 909: 903: 873: 872: 865: 464:message-oriented 387: 380: 319: 317: 312: 270: 263: 259: 251: 244: 233: 226: 222: 219: 213: 193: 192: 185: 178: 171: 167: 164: 158: 126: 125: 118: 111: 108: 102: 79: 71: 60: 38: 37: 30: 21: 5437: 5436: 5432: 5431: 5430: 5428: 5427: 5426: 5422:Bosch (company) 5387: 5386: 5385: 5380: 5268: 5225: 5165: 5037: 5004: 4799: 4794: 4764: 4759: 4750: 4741: 4700: 4679: 4628: 4541:IEEE-488 (GPIB) 4464: 4360: 4339:Infinity Fabric 4169:Europe Card Bus 4112: 4046: 4027: 3912: 3896: 3861: 3850: 3844: 3841: 3822: 3813:This article's 3809: 3805: 3798: 3793: 3792: 3783: 3781: 3777: 3770: 3766: 3765: 3761: 3752:. 29 May 2014. 3744: 3743: 3739: 3729: 3727: 3718: 3717: 3713: 3704: 3703: 3699: 3690: 3689: 3685: 3676: 3675: 3671: 3663: 3659: 3658: 3654: 3639: 3635: 3626: 3624: 3616: 3615: 3611: 3602: 3601: 3594: 3585: 3578: 3571: 3557: 3550: 3539: 3538: 3529: 3521: 3517: 3516: 3509: 3500: 3499: 3495: 3482: 3481: 3477: 3472: 3468: 3462:Wayback Machine 3451: 3447: 3438: 3436: 3427: 3426: 3417: 3407: 3405: 3397: 3396: 3392: 3382: 3380: 3379:on 10 June 2019 3367: 3366: 3362: 3353: 3352: 3345: 3340: 3331: 3294: 3277: 3256:CAN bus monitor 3255: 3254: 3244:Logic analyzers 3240: 3231: 3211: 3141: 3039: 3021: 3012: 2989: 2978: 2961: 2957: 2937: 2918:established in 2884: 2854: 2851: 2850: 2830: 2827: 2826: 2785: 2783: 2779: 2762: 2759: 2758: 2732: 2729: 2728: 2703: 2700: 2699: 2679: 2676: 2675: 2634: 2632: 2628: 2611: 2608: 2607: 2581: 2578: 2577: 2560:before stuffing 2526: 2523: 2522: 2515: 2472: 2470: 2466: 2449: 2446: 2445: 2380: 2374: 2360: 2344: 2324: 2261: 2242: 2233: 2225: 2224: 2218: 2214: 2020: 2015: 2014: 2008: 2004: 1810: 1791: 1753: 1743: 1725: 1721: 1709: 1705: 1694: 1689: 1675: 1579:Message framing 1573:Acknowledgement 1567:Error detection 1522: 1490: 1478: 1465: 1461: 1457: 1453: 1283: 1251: 1166: 1150:electrical bias 1140: 1139: 1111: 1102: 1098: 1097:V and CANL at 5 1094: 1090: 1086: 1082: 1067: 1062: 1036: 1032: 1028: 1024: 1020: 1015: 1000: 996: 933: 924: 913: 907: 904: 897: 874: 870: 863: 846: 829: 818: 813: 730: 659:Auto start/stop 616: 562: 535:data link layer 484: 460:broadcast-based 435:CAN Low (Green) 385: 378: 315: 313: 310: 273: 252: 241: 240: 239: 234: 223: 217: 214: 206:help improve it 203: 194: 190: 179: 168: 162: 159: 140: 131:This article's 127: 123: 112: 106: 103: 96: 84:This article's 80: 39: 35: 28: 23: 22: 15: 12: 11: 5: 5435: 5425: 5424: 5419: 5414: 5409: 5404: 5399: 5382: 5381: 5379: 5378: 5373: 5368: 5362: 5357: 5352: 5347: 5342: 5337: 5332: 5327: 5322: 5317: 5316: 5315: 5310: 5305: 5300: 5290: 5285: 5279: 5277: 5270: 5269: 5267: 5266: 5261: 5256: 5251: 5249:DLMS/IEC 62056 5246: 5241: 5235: 5233: 5227: 5226: 5224: 5223: 5218: 5213: 5208: 5203: 5198: 5193: 5192: 5191: 5186: 5175: 5173: 5167: 5166: 5164: 5163: 5158: 5153: 5148: 5143: 5138: 5133: 5128: 5123: 5118: 5113: 5108: 5103: 5098: 5093: 5088: 5083: 5078: 5073: 5068: 5063: 5058: 5053: 5047: 5045: 5039: 5038: 5036: 5035: 5030: 5025: 5020: 5014: 5012: 5006: 5005: 5003: 5002: 4997: 4992: 4987: 4982: 4977: 4972: 4967: 4962: 4957: 4952: 4947: 4942: 4937: 4932: 4927: 4922: 4917: 4912: 4907: 4906: 4905: 4900: 4890: 4885: 4880: 4875: 4870: 4865: 4860: 4855: 4850: 4845: 4844: 4843: 4838: 4828: 4823: 4818: 4813: 4807: 4805: 4801: 4800: 4793: 4792: 4785: 4778: 4770: 4761: 4760: 4746: 4743: 4742: 4740: 4739: 4734: 4729: 4719: 4714: 4708: 4706: 4702: 4701: 4699: 4698: 4693: 4687: 4685: 4681: 4680: 4678: 4677: 4672: 4667: 4662: 4657: 4652: 4650:Intel HD Audio 4647: 4642: 4640:ADAT Lightpipe 4636: 4634: 4630: 4629: 4627: 4626: 4621: 4616: 4611: 4606: 4601: 4596: 4591: 4586: 4581: 4563: 4558: 4553: 4548: 4543: 4538: 4533: 4528: 4523: 4518: 4513: 4508: 4503: 4498: 4493: 4488: 4483: 4478: 4472: 4470: 4466: 4465: 4463: 4462: 4451: 4446: 4441: 4436: 4431: 4430: 4429: 4424: 4414: 4409: 4404: 4399: 4394: 4389: 4384: 4379: 4374: 4368: 4366: 4362: 4361: 4359: 4358: 4353: 4348: 4343: 4342: 4341: 4334:HyperTransport 4331: 4326: 4321: 4316: 4311: 4306: 4301: 4296: 4291: 4286: 4281: 4276: 4271: 4266: 4261: 4256: 4251: 4246: 4241: 4236: 4231: 4226: 4221: 4216: 4211: 4206: 4201: 4196: 4191: 4186: 4181: 4176: 4171: 4166: 4161: 4156: 4151: 4146: 4141: 4136: 4131: 4126: 4120: 4118: 4114: 4113: 4111: 4110: 4105: 4100: 4095: 4090: 4088:Bus contention 4085: 4080: 4075: 4070: 4065: 4063:Front-side bus 4060: 4054: 4052: 4048: 4047: 4044:computer buses 4026: 4025: 4018: 4011: 4003: 3997: 3996: 3990:ESD protection 3987: 3982: 3977: 3972: 3970:Website of CiA 3967: 3961: 3956: 3950: 3945: 3940: 3935: 3930: 3924: 3923: 3919: 3918: 3917: 3916: 3906: 3900: 3890: 3877: 3869: 3868:Specifications 3863: 3862: 3817:external links 3812: 3810: 3803: 3797: 3796:External links 3794: 3791: 3790: 3759: 3737: 3711: 3697: 3683: 3669: 3652: 3633: 3609: 3592: 3576: 3569: 3548: 3527: 3507: 3493: 3475: 3466: 3445: 3415: 3390: 3360: 3342: 3341: 3339: 3336: 3335: 3334: 3325: 3319: 3313: 3307: 3301: 3293: 3290: 3276: 3273: 3239: 3236: 3230: 3227: 3210: 3207: 3206: 3205: 3199: 3193: 3187: 3177: 3171: 3168:General Motors 3161: 3154: 3148: 3140: 3137: 3136: 3135: 3129: 3123: 3117: 3111: 3105: 3099: 3093: 3086: 3081:- CiA 454 and 3076: 3066: 3060: 3050: 3038: 3035: 3020: 3017: 3011: 3008: 2920:ISO/IEC 7498-1 2906:specifies the 2898:physical layer 2883: 2880: 2873: 2872: 2861: 2858: 2848: 2837: 2834: 2824: 2812: 2807: 2803: 2800: 2797: 2794: 2791: 2788: 2782: 2778: 2775: 2772: 2769: 2766: 2756: 2745: 2742: 2739: 2736: 2726: 2725:extended frame 2722: 2721: 2710: 2707: 2697: 2686: 2683: 2673: 2661: 2656: 2652: 2649: 2646: 2643: 2640: 2637: 2631: 2627: 2624: 2621: 2618: 2615: 2605: 2594: 2591: 2588: 2585: 2575: 2571: 2570: 2567: 2564: 2563:after stuffing 2561: 2558: 2539: 2536: 2533: 2530: 2512: 2511: 2499: 2494: 2490: 2487: 2484: 2481: 2478: 2475: 2469: 2465: 2462: 2459: 2456: 2453: 2436: 2435: 2412: 2411: 2376:Main article: 2373: 2370: 2365:Start of frame 2359: 2356: 2343: 2340: 2335: 2334: 2331: 2323: 2322:Overload frame 2320: 2319: 2318: 2315: 2312: 2308: 2307: 2304: 2297: 2296: 2289: 2286: 2279: 2272: 2271: 2268: 2260: 2257: 2253: 2252: 2249: 2245: 2244: 2238: 2232: 2229: 2223: 2222: 2211: 2210: 2207: 2206: 2203: 2200: 2196: 2195: 2192: 2189: 2185: 2184: 2181: 2178: 2174: 2173: 2170: 2167: 2163: 2162: 2159: 2156: 2152: 2151: 2146: 2143: 2139: 2138: 2135: 2132: 2128: 2127: 2124: 2121: 2117: 2116: 2113: 2110: 2106: 2105: 2098: 2095: 2091: 2090: 2087: 2084: 2080: 2079: 2076: 2073: 2069: 2068: 2065: 2062: 2058: 2057: 2054: 2051: 2047: 2046: 2043: 2040: 2039:Start-of-frame 2036: 2035: 2032: 2029: 2019: 2016: 2013: 2012: 2001: 2000: 1997: 1996: 1993: 1990: 1986: 1985: 1982: 1979: 1975: 1974: 1971: 1968: 1964: 1963: 1960: 1957: 1953: 1952: 1949: 1946: 1942: 1941: 1936: 1933: 1929: 1928: 1925: 1922: 1918: 1917: 1914: 1911: 1907: 1906: 1903: 1900: 1896: 1895: 1892: 1889: 1885: 1884: 1877: 1874: 1870: 1869: 1863: 1860: 1856: 1855: 1852: 1849: 1845: 1844: 1841: 1838: 1837:Start-of-frame 1834: 1833: 1830: 1827: 1809: 1806: 1802: 1801: 1798: 1790: 1787: 1786: 1785: 1782: 1779: 1776: 1761:CAN base frame 1752: 1749: 1634: 1633: 1630: 1627: 1624: 1592: 1591: 1590:Physical layer 1587: 1586: 1583: 1580: 1577: 1574: 1571: 1568: 1565: 1557: 1556: 1555:Transfer layer 1552: 1551: 1548: 1544: 1543: 1539: 1538: 1534: 1533: 1521: 1518: 1489: 1486: 1477: 1474: 1441: 1440: 1437: 1434: 1431: 1428: 1425: 1422: 1419: 1416: 1413: 1410: 1407: 1404: 1400: 1399: 1396: 1393: 1390: 1387: 1384: 1381: 1378: 1375: 1372: 1368: 1367: 1364: 1361: 1358: 1355: 1352: 1349: 1346: 1343: 1340: 1337: 1334: 1331: 1327: 1326: 1323: 1320: 1317: 1314: 1311: 1308: 1305: 1302: 1299: 1296: 1292: 1291: 1288: 1285: 1280: 1250: 1247: 1243:host processor 1219: 1218: 1217: 1216: 1213: 1204: 1203: 1202: 1199: 1192: 1191: 1190: 1187: 1165: 1162: 1110: 1107: 1053:, also called 993:high-speed CAN 991:, also called 969:This bus uses 932: 929: 926: 925: 877: 875: 868: 862: 859: 845: 842: 828: 823: 817: 814: 812: 809: 808: 807: 797: 790: 785:The CueScript 783: 772: 762: 758:Gran Turismo 6 749: 742: 729: 726: 718: 717: 713: 698: 682: 678:Parking assist 675: 662: 644:power steering 640:cruise control 615: 612: 611: 610: 607: 604: 601: 598: 595:Model railways 592: 587: 584: 581: 578: 575: 572: 569: 566: 561: 558: 483: 480: 437: 436: 433: 429: 428: 425: 421: 420: 416: 415: 414:, Asynchronous 405: 401: 400: 397: 393: 392: 375: 371: 370: 367: 363: 362: 359: 355: 354: 350: 349: 346: 342: 341: 338: 334: 333: 329: 328: 325: 321: 320: 307: 303: 302: 297: 293: 292: 288: 287: 279: 275: 274: 271: 254: 253: 236: 235: 197: 195: 188: 181: 180: 135:external links 130: 128: 121: 114: 113: 93:the key points 83: 81: 74: 69: 43: 42: 40: 33: 26: 9: 6: 4: 3: 2: 5434: 5423: 5420: 5418: 5415: 5413: 5410: 5408: 5405: 5403: 5400: 5398: 5395: 5394: 5392: 5377: 5374: 5372: 5369: 5366: 5363: 5361: 5358: 5356: 5353: 5351: 5348: 5346: 5343: 5341: 5338: 5336: 5333: 5331: 5328: 5326: 5323: 5321: 5318: 5314: 5311: 5309: 5306: 5304: 5301: 5299: 5296: 5295: 5294: 5291: 5289: 5286: 5284: 5281: 5280: 5278: 5276: 5273:Automobile / 5271: 5265: 5262: 5260: 5257: 5255: 5252: 5250: 5247: 5245: 5242: 5240: 5237: 5236: 5234: 5232: 5228: 5222: 5219: 5217: 5214: 5212: 5209: 5207: 5204: 5202: 5199: 5197: 5194: 5190: 5187: 5185: 5182: 5181: 5180: 5177: 5176: 5174: 5172: 5168: 5162: 5159: 5157: 5154: 5152: 5149: 5147: 5144: 5142: 5139: 5137: 5134: 5132: 5129: 5127: 5124: 5122: 5119: 5117: 5114: 5112: 5109: 5107: 5104: 5102: 5099: 5097: 5094: 5092: 5089: 5087: 5084: 5082: 5079: 5077: 5074: 5072: 5069: 5067: 5064: 5062: 5059: 5057: 5054: 5052: 5049: 5048: 5046: 5044: 5040: 5034: 5031: 5029: 5026: 5024: 5021: 5019: 5016: 5015: 5013: 5011: 5007: 5001: 4998: 4996: 4993: 4991: 4988: 4986: 4983: 4981: 4978: 4976: 4973: 4971: 4968: 4966: 4963: 4961: 4958: 4956: 4953: 4951: 4948: 4946: 4943: 4941: 4938: 4936: 4933: 4931: 4928: 4926: 4923: 4921: 4920:Honeywell SDS 4918: 4916: 4915:HART Protocol 4913: 4911: 4908: 4904: 4901: 4899: 4896: 4895: 4894: 4891: 4889: 4886: 4884: 4881: 4879: 4876: 4874: 4871: 4869: 4866: 4864: 4861: 4859: 4856: 4854: 4851: 4849: 4846: 4842: 4839: 4837: 4834: 4833: 4832: 4829: 4827: 4824: 4822: 4819: 4817: 4814: 4812: 4809: 4808: 4806: 4802: 4798: 4791: 4786: 4784: 4779: 4777: 4772: 4771: 4768: 4758: 4744: 4738: 4735: 4733: 4730: 4727: 4723: 4720: 4718: 4715: 4713: 4712:Multidrop bus 4710: 4709: 4707: 4703: 4697: 4694: 4692: 4689: 4688: 4686: 4682: 4676: 4673: 4671: 4668: 4666: 4663: 4661: 4658: 4656: 4653: 4651: 4648: 4646: 4643: 4641: 4638: 4637: 4635: 4631: 4625: 4622: 4620: 4619:External PCIe 4617: 4615: 4612: 4610: 4607: 4605: 4602: 4600: 4599:Parallel SCSI 4597: 4595: 4592: 4590: 4587: 4585: 4582: 4579: 4575: 4571: 4567: 4564: 4562: 4559: 4557: 4554: 4552: 4549: 4547: 4544: 4542: 4539: 4537: 4534: 4532: 4529: 4527: 4524: 4522: 4519: 4517: 4514: 4512: 4509: 4507: 4504: 4502: 4499: 4497: 4494: 4492: 4491:Commodore bus 4489: 4487: 4484: 4482: 4479: 4477: 4474: 4473: 4471: 4467: 4460: 4456: 4452: 4450: 4447: 4445: 4442: 4440: 4439:Fibre Channel 4437: 4435: 4432: 4428: 4425: 4423: 4420: 4419: 4418: 4415: 4413: 4410: 4408: 4405: 4403: 4400: 4398: 4395: 4393: 4390: 4388: 4385: 4383: 4380: 4378: 4375: 4373: 4370: 4369: 4367: 4363: 4357: 4354: 4352: 4349: 4347: 4344: 4340: 4337: 4336: 4335: 4332: 4330: 4327: 4325: 4322: 4320: 4317: 4315: 4312: 4310: 4307: 4305: 4302: 4300: 4297: 4295: 4292: 4290: 4287: 4285: 4282: 4280: 4277: 4275: 4272: 4270: 4267: 4265: 4262: 4260: 4257: 4255: 4252: 4250: 4247: 4245: 4242: 4240: 4237: 4235: 4232: 4230: 4227: 4225: 4222: 4220: 4217: 4215: 4212: 4210: 4207: 4205: 4202: 4200: 4197: 4195: 4192: 4190: 4187: 4185: 4182: 4180: 4177: 4175: 4172: 4170: 4167: 4165: 4162: 4160: 4157: 4155: 4152: 4150: 4147: 4145: 4142: 4140: 4137: 4135: 4132: 4130: 4127: 4125: 4122: 4121: 4119: 4115: 4109: 4106: 4104: 4103:Plug and play 4101: 4099: 4096: 4094: 4093:Bus mastering 4091: 4089: 4086: 4084: 4081: 4079: 4076: 4074: 4071: 4069: 4068:Back-side bus 4066: 4064: 4061: 4059: 4056: 4055: 4053: 4049: 4045: 4042: 4038: 4036: 4031: 4024: 4019: 4017: 4012: 4010: 4005: 4004: 4001: 3995: 3991: 3988: 3986: 3983: 3981: 3978: 3976: 3973: 3971: 3968: 3965: 3962: 3960: 3957: 3954: 3951: 3949: 3946: 3944: 3941: 3939: 3936: 3934: 3931: 3929: 3926: 3925: 3921: 3920: 3910: 3907: 3904: 3901: 3894: 3891: 3889: 3885: 3884:Classical CAN 3881: 3878: 3875: 3872: 3871: 3870: 3867: 3866: 3859: 3856: 3848: 3838: 3834: 3833:inappropriate 3830: 3826: 3820: 3818: 3811: 3802: 3801: 3780:on 2016-03-16 3776: 3769: 3763: 3755: 3751: 3747: 3741: 3725: 3721: 3715: 3707: 3701: 3693: 3687: 3679: 3673: 3662: 3656: 3648: 3644: 3637: 3623: 3619: 3613: 3605: 3599: 3597: 3589: 3583: 3581: 3572: 3566: 3562: 3555: 3553: 3544: 3543: 3536: 3534: 3532: 3520: 3514: 3512: 3503: 3497: 3489: 3485: 3479: 3470: 3463: 3459: 3456: 3455: 3449: 3435:on 2017-05-23 3434: 3430: 3424: 3422: 3420: 3404: 3400: 3394: 3378: 3374: 3370: 3364: 3356: 3355:"CAN History" 3350: 3348: 3343: 3329: 3326: 3323: 3320: 3317: 3314: 3311: 3308: 3305: 3302: 3299: 3296: 3295: 3289: 3287: 3283: 3272: 3268: 3266: 3262: 3251: 3249: 3248:bus analyzers 3245: 3235: 3226: 3224: 3219: 3216: 3203: 3200: 3197: 3194: 3191: 3188: 3185: 3181: 3178: 3175: 3172: 3169: 3165: 3162: 3159: 3155: 3152: 3149: 3146: 3143: 3142: 3133: 3130: 3127: 3124: 3121: 3118: 3115: 3112: 3109: 3106: 3103: 3100: 3097: 3094: 3092:(agriculture) 3091: 3087: 3084: 3080: 3077: 3074: 3070: 3067: 3064: 3061: 3058: 3054: 3051: 3048: 3044: 3041: 3040: 3034: 3032: 3028: 3026: 3016: 3007: 3004: 3000: 2998: 2994: 2987: 2983: 2976: 2972: 2969: 2965: 2954: 2950: 2948: 2944: 2935: 2931: 2929: 2926:sublayer and 2925: 2921: 2917: 2913: 2910:and physical 2909: 2905: 2901: 2899: 2894: 2892: 2888: 2879: 2859: 2856: 2849: 2835: 2832: 2825: 2810: 2805: 2801: 2798: 2795: 2792: 2789: 2786: 2780: 2776: 2773: 2770: 2767: 2764: 2757: 2743: 2740: 2737: 2734: 2727: 2724: 2723: 2708: 2705: 2698: 2684: 2681: 2674: 2659: 2654: 2650: 2647: 2644: 2641: 2638: 2635: 2629: 2625: 2622: 2619: 2616: 2613: 2606: 2592: 2589: 2586: 2583: 2576: 2573: 2572: 2568: 2566:stuffing bits 2565: 2562: 2559: 2556: 2555: 2552: 2537: 2534: 2531: 2528: 2519: 2497: 2492: 2488: 2485: 2482: 2479: 2476: 2473: 2467: 2463: 2460: 2457: 2454: 2451: 2444: 2443: 2442: 2439: 2433: 2429: 2425: 2421: 2417: 2416: 2415: 2409: 2408: 2407: 2403: 2399: 2397: 2393: 2384: 2379: 2369: 2366: 2355: 2353: 2352:error passive 2348: 2339: 2332: 2329: 2328: 2327: 2316: 2313: 2310: 2309: 2305: 2302: 2301: 2300: 2294: 2293:error passive 2290: 2287: 2284: 2280: 2277: 2276: 2275: 2269: 2266: 2265: 2264: 2256: 2250: 2247: 2246: 2239: 2235: 2234: 2228: 2216: 2212: 2204: 2201: 2198: 2197: 2193: 2190: 2187: 2186: 2182: 2179: 2177:ACK delimiter 2176: 2175: 2171: 2168: 2165: 2164: 2160: 2157: 2155:CRC delimiter 2154: 2153: 2150: 2147: 2144: 2141: 2140: 2136: 2133: 2129: 2125: 2122: 2118: 2114: 2111: 2108: 2107: 2103: 2099: 2096: 2092: 2088: 2085: 2081: 2077: 2074: 2071: 2070: 2066: 2063: 2060: 2059: 2055: 2052: 2048: 2044: 2041: 2038: 2037: 2033: 2031:Length (bits) 2030: 2027: 2026: 2023: 2006: 2002: 1994: 1991: 1988: 1987: 1983: 1980: 1977: 1976: 1972: 1969: 1967:ACK delimiter 1966: 1965: 1961: 1958: 1955: 1954: 1950: 1947: 1945:CRC delimiter 1944: 1943: 1940: 1937: 1934: 1931: 1930: 1926: 1923: 1919: 1915: 1912: 1908: 1904: 1901: 1898: 1897: 1893: 1890: 1887: 1886: 1882: 1878: 1875: 1871: 1868: 1864: 1861: 1857: 1853: 1850: 1846: 1842: 1839: 1836: 1835: 1831: 1829:Length (bits) 1828: 1825: 1824: 1821: 1814: 1805: 1799: 1796: 1795: 1794: 1783: 1780: 1777: 1774: 1773: 1772: 1769: 1766: 1762: 1758: 1748: 1741: 1737: 1732: 1729: 1718: 1714: 1703: 1699: 1687: 1683: 1681: 1673: 1672:balanced line 1669: 1664: 1662: 1656: 1653: 1652: 1643: 1638: 1631: 1628: 1625: 1622: 1621: 1620: 1618: 1614: 1609: 1605: 1596: 1589: 1588: 1584: 1581: 1578: 1575: 1572: 1569: 1566: 1563: 1562: 1561: 1554: 1553: 1549: 1546: 1545: 1541: 1540: 1536: 1535: 1531: 1530: 1529: 1527: 1517: 1513: 1506: 1502: 1498: 1494: 1485: 1481: 1476:ID allocation 1473: 1471: 1451: 1447: 1438: 1435: 1432: 1429: 1426: 1423: 1420: 1417: 1414: 1411: 1408: 1405: 1402: 1401: 1394: 1391: 1388: 1385: 1382: 1379: 1376: 1373: 1370: 1369: 1365: 1362: 1359: 1356: 1353: 1350: 1347: 1344: 1341: 1338: 1335: 1332: 1329: 1328: 1324: 1321: 1318: 1315: 1312: 1309: 1306: 1303: 1300: 1297: 1294: 1293: 1278: 1275: 1271: 1267: 1264: 1260: 1255: 1246: 1244: 1240: 1236: 1231: 1229: 1224: 1214: 1211: 1210: 1208: 1205: 1200: 1196: 1195: 1193: 1188: 1185: 1184: 1182: 1179: 1178: 1177: 1170: 1161: 1159: 1155: 1151: 1147: 1136: 1134: 1129: 1127: 1122: 1119: 1115: 1106: 1075: 1071: 1060: 1056: 1052: 1044: 1040: 1008: 1004: 994: 990: 982: 978: 975: 972: 967: 965: 961: 956: 953: 949: 945: 941: 938: 922: 919: 911: 901: 896: 894: 888: 884: 883: 876: 867: 866: 858: 856: 852: 841: 837: 834: 827: 822: 805: 801: 798: 795: 791: 788: 784: 781: 777: 774:Teams in the 773: 770: 766: 763: 760: 759: 754: 750: 747: 743: 740: 736: 732: 731: 725: 723: 714: 711: 707: 703: 699: 696: 695:brake by wire 691: 687: 683: 679: 676: 672: 671: 666: 663: 660: 657: 656: 655: 653: 649: 648:power windows 645: 641: 637: 633: 629: 625: 621: 608: 605: 602: 599: 596: 593: 591: 588: 585: 582: 579: 576: 573: 570: 567: 564: 563: 557: 555: 551: 546: 543: 538: 536: 532: 529:In 1993, the 527: 525: 519: 517: 513: 509: 505: 501: 497: 493: 489: 479: 477: 473: 469: 465: 461: 457: 452: 448: 444: 434: 430: 426: 422: 417: 413: 409: 402: 394: 391: 383: 372: 364: 356: 351: 343: 335: 330: 322: 304: 301: 294: 289: 286: 283: 276: 269: 264: 258: 250: 247: 232: 229: 221: 211: 207: 201: 198:This article 196: 187: 186: 177: 174: 166: 156: 152: 151:inappropriate 148: 144: 138: 136: 129: 120: 119: 110: 107:November 2020 100: 94: 92: 87: 82: 78: 73: 72: 67: 65: 58: 57: 52: 51: 46: 41: 32: 31: 19: 5407:Serial buses 5292: 4940:MECHATROLINK 4830: 4244:TURBOchannel 4034: 3887: 3883: 3851: 3845:January 2024 3842: 3827:by removing 3814: 3782:. Retrieved 3775:the original 3762: 3750:www.vice.com 3749: 3740: 3728:. Retrieved 3724:the original 3714: 3700: 3686: 3672: 3655: 3646: 3636: 3625:. Retrieved 3621: 3612: 3560: 3541: 3496: 3487: 3478: 3469: 3453: 3448: 3437:. Retrieved 3433:the original 3406:. Retrieved 3402: 3393: 3381:. Retrieved 3377:the original 3372: 3363: 3278: 3269: 3252: 3241: 3232: 3220: 3212: 3209:CANopen Lift 3145:CANaerospace 3071:(industrial 3029: 3025:flow control 3022: 3013: 3002: 3001: 2996: 2995: 2985: 2984: 2974: 2973: 2967: 2966: 2952: 2951: 2933: 2932: 2903: 2902: 2895: 2886: 2885: 2876: 2520: 2513: 2440: 2437: 2431: 2427: 2423: 2419: 2413: 2404: 2400: 2392:bit stuffing 2389: 2378:Bit stuffing 2372:Bit stuffing 2364: 2361: 2351: 2349: 2345: 2336: 2325: 2298: 2292: 2283:error active 2282: 2273: 2262: 2254: 2231:Remote frame 2226: 2215: 2102:Remote Frame 2021: 2005: 1881:Remote Frame 1819: 1803: 1792: 1770: 1764: 1760: 1756: 1754: 1733: 1730: 1719: 1715: 1700: 1684: 1680:twisted pair 1665: 1657: 1649: 1647: 1601: 1558: 1542:Object layer 1523: 1514: 1511: 1499: 1495: 1491: 1482: 1479: 1448: 1444: 1272: 1268: 1262: 1258: 1256: 1252: 1232: 1220: 1175: 1172:CAN bus node 1137: 1130: 1123: 1120: 1116: 1112: 1080: 1058: 1054: 1050: 1049: 1013: 992: 988: 987: 971:differential 968: 960:two-wire bus 959: 957: 937:multi-master 934: 914: 905: 898:Please help 890: 879: 861:Architecture 847: 838: 830: 819: 787:teleprompter 756: 719: 668: 651: 628:transmission 617: 560:Applications 547: 539: 528: 524:white papers 520: 485: 456:multiplexing 446: 442: 440: 396:Max. devices 345:Max. voltage 340:Differential 257: 242: 224: 218:January 2024 215: 199: 169: 163:January 2024 160: 145:by removing 132: 104: 88: 86:lead section 61: 54: 48: 47:Please help 44: 5367:(SAE J2716) 5239:ANSI C12.18 5189:IEC 60870-6 5184:IEC 60870-5 4878:EtherNet/IP 4717:CoreConnect 4696:ExpressCard 4624:Thunderbolt 4614:Camera Link 4397:Bus and Tag 4083:Address bus 4078:Control bus 4073:Daisy chain 3888:CAN-Classic 3180:SafetyBUS p 3151:CAN Kingdom 2259:Error frame 1576:Arbitration 1207:Transceiver 1198:interrupt). 1158:bus segment 1154:termination 1126:reflections 1114:wire used. 1051:ISO 11898-3 1039:of common. 989:ISO 11898-2 908:August 2018 902:if you can. 686:lane assist 642:, electric 606:3D printers 468:arbitration 451:vehicle bus 412:half-duplex 388:Mbit/s for 384:, up to 5.0 358:Data signal 5391:Categories 5000:TTEthernet 4985:SERCOS III 4848:ControlNet 4570:ACCESS.bus 4469:Peripheral 4269:InfiniBand 4264:HP GSC bus 4058:System bus 3784:2016-03-15 3627:2024-05-15 3439:2017-05-31 3408:27 October 3383:27 October 3338:References 3184:automation 3132:LeisureCAN 3073:automation 3057:automation 2947:powertrain 2930:sublayer. 2912:signalling 2574:base frame 2557:frame type 2028:Field name 1826:Field name 1789:Data frame 1608:link layer 1488:Bit timing 1061:(up to 125 940:serial bus 652:hard wired 614:Automotive 597:/railroads 332:Electrical 300:Bosch GmbH 50:improve it 5308:NMEA 2000 5303:SAE J1939 5298:ARINC 825 5288:ARINC 429 5244:IEC 61107 5211:IEC 62351 5206:IEC 61850 5179:IEC 60870 5126:OpenTherm 5018:MTConnect 4945:MelsecNet 4858:DirectNET 4841:DeviceNet 4531:Lightning 4481:Atari SIO 4356:SpaceWire 4189:Zorro III 4129:S-100 bus 4124:SS-50 bus 4117:Standards 4037:standards 4030:Technical 3955:(ZIPfile) 3829:excessive 3304:Etherloop 3275:Licensing 3120:SAE J2284 3114:SAE J1939 3108:NMEA 2000 3090:ISO 11783 3088:ISOBUS - 3083:IEC 61851 3079:EnergyBus 3069:DeviceNet 3063:IEC 61375 3047:ARINC 825 3043:ARINC 812 2857:≤ 2833:≤ 2799:− 2706:≤ 2682:≤ 2648:− 2486:− 2104:, below) 1883:, below) 1859:Stuff bit 1702:ISO 11898 1686:ISO 11898 1668:ISO 11898 1613:ISO 11898 1604:ISO 11898 1602:CAN bus ( 1450:Bit rates 1403:CAN data 1263:recessive 1261:bits and 1239:actuators 1144:provides 1055:low-speed 974:wired-AND 935:CAN is a 670:hill hold 147:excessive 91:summarize 56:talk page 5221:PROFIBUS 4990:Sinec H1 4975:RAPIEnet 4970:PROFINET 4965:PROFIBUS 4930:INTERBUS 4925:HostLink 4863:EtherCAT 4757:Category 4732:Wishbone 4705:Embedded 4684:Portable 4604:Profibus 4536:DMX512-A 4422:Parallel 4274:Ethernet 4184:Zorro II 4134:Multibus 4035:de facto 3754:Archived 3458:Archived 3328:MOST bus 3292:See also 3265:software 3261:hardware 3229:Security 2964:kbit/s. 2943:balanced 2811:⌋ 2781:⌊ 2660:⌋ 2630:⌊ 2498:⌋ 2468:⌊ 2342:ACK slot 2166:ACK slot 2034:Purpose 1956:ACK slot 1832:Purpose 1663:(see ). 1651:de facto 1464:m at 125 1371:Node 16 1330:Node 15 1287:ID bits 1259:dominant 1133:ISO11783 1085:V or 3.3 895:section. 880:require 853:and the 811:Versions 746:fieldbus 716:display. 590:Pedelecs 504:Michigan 404:Protocol 324:External 306:Designed 296:Designer 5397:CAN bus 5325:FlexRay 5293:CAN bus 5275:Vehicle 5116:LonTalk 5091:EnOcean 5061:BatiBUS 5028:OPC HDA 4995:SynqNet 4955:Optomux 4935:IO-Link 4910:GE SRTP 4836:CANopen 4831:CAN bus 4737:SLIMbus 4691:PC Card 4675:TOSLINK 4365:Storage 4319:RapidIO 4199:FASTBUS 4154:STD Bus 4051:General 3823:Please 3815:use of 3310:FlexRay 3298:CANopen 3053:CANopen 2891:ISO/OSI 2354:state. 1640:A male 1452:up to 1 1235:sensors 882:cleanup 780:roboRIO 735:Shimano 722:LIN bus 632:airbags 512:Philips 500:Detroit 482:History 449:) is a 374:Bitrate 314: ( 204:Please 141:Please 133:use of 5376:Cyphal 5264:Zigbee 5259:Modbus 5216:Modbus 5161:Zigbee 5156:Z-Wave 5121:Modbus 5056:BACnet 5051:1-Wire 5033:OPC UA 5023:OPC DA 4950:Modbus 4670:S/PDIF 4561:1-Wire 4526:RS-485 4521:RS-423 4516:RS-422 4511:RS-232 4372:ST-506 4329:NVLink 4179:STEbus 4139:Unibus 3994:CAN FD 3915:Mbit/s 3913: 3899:Mbit/s 3897: 3730:25 Sep 3606:. ISO. 3567: 3322:Modbus 3190:UAVCAN 3102:MilCAN 3096:ISO-TP 2990: 2979: 2962: 2958: 2938: 2521:Since 2514:where 2237:frame. 2220:bytes. 2010:bytes. 1751:Frames 1744: 1740:RS-485 1736:RS-422 1726: 1722: 1710: 1706: 1695: 1690: 1676: 1661:CAN FD 1520:Layers 1470:CAN FD 1466: 1462: 1458: 1454: 1282:Start 1103: 1099: 1095: 1091: 1087: 1083: 1068: 1063: 1037: 1033: 1029: 1025: 1021: 1016: 1001: 997: 950:, via 893:Layers 844:CAN XL 826:CAN FD 667:: The 542:CAN FD 476:CAN FD 419:Pinout 408:Serial 390:CAN FD 386: 382:Mbit/s 379: 348:16V DC 337:Signal 5340:J1708 5335:J1587 5330:IEBus 5254:M-Bus 5086:DyNet 5071:CEBus 5066:C-Bus 4665:McASP 4633:Audio 4578:SMBus 4574:PMBus 4556:UNI/O 4496:HP-IL 4449:SATAe 4434:ESCON 4407:HIPPI 4239:NuBus 4194:CAMAC 4164:Q-Bus 4159:SMBus 4144:VAXBI 4041:wired 3922:Other 3778:(PDF) 3771:(PDF) 3664:(PDF) 3586:CiA: 3522:(PDF) 3286:FPGAs 3282:ASICs 3164:GMLAN 2418:11111 2243:I.e., 2241:one). 1757:frame 1648:This 1223:Frame 1164:Nodes 1146:power 833:Bosch 753:NISMO 739:BionX 728:Other 684:Auto 508:Intel 432:CAN-L 424:CAN-H 366:Width 5365:SENT 5360:MOST 5283:AFDX 5196:DNP3 5136:VSCP 5131:oBIX 5076:DALI 4960:PieP 4888:FINS 4853:DF-1 4816:BSAP 4811:AS-i 4722:AMBA 4660:MADI 4645:AES3 4506:MIDI 4459:NVMe 4455:AHCI 4417:SCSI 4402:DSSI 4377:ESDI 4254:SBus 4214:EISA 4149:MBus 4039:for 4032:and 3886:and 3732:2013 3565:ISBN 3410:2017 3385:2017 3263:and 3246:and 3215:lift 3202:VSCP 3174:RV-C 3156:CCP/ 2430:0000 2426:1111 2422:0000 1738:/3, 1642:DE-9 1284:bit 1152:and 952:FPGA 708:and 706:Audi 554:EOBD 353:Data 316:1983 309:1983 278:Type 5371:VAN 5355:LIN 5313:FMS 5151:xPL 5146:xAP 5141:X10 5111:KNX 5106:FIP 5101:EIB 5096:EHS 5081:DSI 4903:HSE 4826:CIP 4726:AXI 4655:I²S 4609:USB 4594:D²B 4589:SPI 4584:I3C 4566:I²C 4501:HIL 4486:DCB 4457:or 4444:SSA 4427:SAS 4387:SMD 4382:IPI 4304:AGP 4294:PXI 4284:PCI 4279:UPA 4259:VLB 4249:MCA 4234:VPX 4229:VXS 4224:VXI 4219:VME 4204:LPC 4174:ISA 3831:or 3284:or 3196:CSP 3158:XCP 3045:or 3010:DBC 2860:157 2709:132 2434:... 2142:CRC 1932:CRC 1728:V. 1295:10 1070:Ω. 1066:100 1057:or 948:PLD 767:'s 710:BMW 488:bus 447:CAN 285:bus 208:to 149:or 5393:: 4898:H1 4576:, 4572:, 3748:. 3645:, 3620:. 3595:^ 3579:^ 3551:^ 3530:^ 3510:^ 3486:. 3418:^ 3401:. 3371:. 3346:^ 3253:A 2956:40 2836:29 2787:54 2774:64 2744:64 2685:24 2636:34 2623:44 2593:44 2538:44 2474:34 2461:44 2145:15 2086:18 2053:11 1935:15 1851:11 1528:: 1439:1 1366:1 1325:0 1322:1 1319:2 1316:3 1313:4 1310:5 1307:6 1304:7 1301:8 1298:9 1237:, 1138:A 1135:. 966:. 857:. 638:, 634:, 630:, 526:. 502:, 462:, 441:A 410:, 327:No 59:. 4789:e 4782:t 4775:v 4728:) 4724:( 4580:) 4568:( 4022:e 4015:t 4008:v 3858:) 3852:( 3847:) 3843:( 3839:. 3821:. 3787:. 3734:. 3694:. 3680:. 3666:. 3630:. 3590:. 3573:. 3545:. 3524:. 3442:. 3412:. 3387:. 3186:) 3170:) 3075:) 3059:) 2806:4 2802:1 2796:n 2793:8 2790:+ 2777:+ 2771:+ 2768:n 2765:8 2741:+ 2738:n 2735:8 2655:4 2651:1 2645:n 2642:8 2639:+ 2626:+ 2620:+ 2617:n 2614:8 2590:+ 2587:n 2584:8 2535:+ 2532:n 2529:8 2516:n 2493:4 2489:1 2483:n 2480:8 2477:+ 2464:+ 2458:+ 2455:n 2452:8 2432:1 2428:0 2424:1 2420:0 2295:. 2285:. 2202:3 2191:7 2180:1 2169:1 2158:1 2123:4 2112:2 2097:1 2075:1 2064:1 2042:1 1992:3 1981:7 1970:1 1959:1 1948:1 1913:4 1902:1 1891:1 1876:1 1862:1 1840:1 1436:1 1433:1 1430:1 1427:0 1424:0 1421:0 1418:0 1415:0 1412:0 1409:0 1406:0 1395:1 1392:0 1389:0 1386:0 1383:0 1380:0 1377:0 1374:0 1363:1 1360:1 1357:1 1354:0 1351:0 1348:0 1345:0 1342:0 1339:0 1336:0 1333:0 1019:0 921:) 915:( 910:) 906:( 688:/ 445:( 318:) 249:) 243:( 231:) 225:( 220:) 216:( 202:. 176:) 170:( 165:) 161:( 157:. 139:. 109:) 105:( 95:. 66:) 62:( 20:)

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