Rainbow Electronics CAN интерфейс - Manual (Page 7)

BOSCH
ROBERT BOSCH GmbH, Postfach 50, D-7000 Stuttgart 1
Sep. 1991
Part A - page 5
2 BASIC CONCEPTS
CAN has the following properties
• prioritization of messages
• guarantee of latency times
• configuration flexibility
• multicast reception with time synchronization
• system wide data consistency
• multimaster
• error detection and signalling
• automatic retransmission of corrupted messages as soon as the bus is idle again
• distinction between temporary errors and permanent failures of nodes and
autonomous switching off of defect nodes
Layered Structure of a CAN Node
Object Layer
- Message Filtering
- Message and Status Handling
Transfer Layer
- Fault Confinement
- Error Detection and Signalling
- Message Validation
- Acknowledgment
- Arbitration
- Message Framing
- Transfer Rate and Timing
Physical Layer
- Signal Level and Bit Representation
- Transmission Medium
Application Layer
Basic Concepts