DSP

or
Controller
Application Layer
Data-Link
Layer
Logic Link Control
MediumAccess
Control
Physical
Layer
Physical Signaling
Physical MediumAttachment
Medium-Dependant Interface
Embedded
CAN
Controller
CAN
Transceiver
CAN Bus-Line
Electrical
Specifications:
Transceivers,
Connectors,
Cable
CAN Controller,
Embedded or
Separate

08 Bytes Data C CR RC C ACK

E
O
F
E
O
F
E
O
F
F
I
S
II
DD
EE
rr00 D DL LC C
11- bit
Identifier
R
T
R
S
O
F

11-bit
Identifi er
R
T
R
I
D
E
r 0 DLC 0 8 CRC ACK r 1
18-bit
Identifier
S
R
R
S
O
F
Bytes Data
E
O
F
E
O
F
E
O
F
F
I
S

CANH
CANL
D = 1 0 1
R = 1 0 1
Recessive Recessive Dominant
1 1 0
V
CANH
V
CANL

CAN Bus
Node C
Transmits
Node B
Transmits
C wins
arbitration
B wins
arbitration

CANH
CANL
CAN Bus-Line
R
L
CAN
Controller
(Node #1)
DSP or C
CAN
Transceiver
CAN
Controller
(Node #n)
DSP or C
CAN
Transceiver
CAN
Controller
(Node #2)
DSP or C
CAN
Transceiver
CAN
Controller
(Node #3)
DSP or C
CAN
Transceiver
R
L

Driver
Input
CAN
Bus
Receiver
Output
Recessive Recessive Dominant
CANH
CANL

Node C wins arbitration

ACK bit
ACK bit
ACK bit
CAN
Bus
Node A
Data
Node B
Data
Node C
Data
120 120
SN65HVD235
TMS320LF2407A
DSP with CAN
Controller
SN65HVD233 SN65HVD230
TMS320LF2810
DSP with CAN
Controller
TMS320LF2812
DSP with CAN
Controller
TEKTRONIX
784D
OSCILLOSCOPE
TEKTRONIX
P6243
SINGLE-ENDED
PROBES
D D D R R R
CANH
CANL
C
H
.
2
C
H
.
4
C
H
.
3
C
H
.
1
Node A
Node B Node C
TEKTRONIX
P6247
DIFFERENTIAL
PROBE
to other sensor or
control equipment
to other sensor or
control equipment
to other sensor or
control equipment

0
50
100
150
200
Power (mW)
3.3-V CAN
Transceiver
5-V CAN
Transceiver

CANL
CANH
C
L
60W
60W 60W
60 W
Low-pass filter with
C
L
p 2 RC
L
1
f
c
=
node
#1
node
#2
node
#n
Vsplit Vsplit