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DSP

or
Controller
ApplicationLayer
Data-Link
Layer
LogicLinkControl
MediumAccess
Control
Physical
Layer
PhysicalSignaling
PhysicalMediumAttachment
Medium-DependantInterface
Embedded
CAN
Controller
CAN
Transceiver
CANBus-Line
Electrical
Specifications:
Transceivers,
Connectors,
Cable
CANController,
Embeddedor
Separate



































08 BytesData 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
BytesData
E
O
F
E
O
F
E
O
F
F
I
S


CANH
CANL
D=101
R=101
Recessive Recessive Dominant
1 1 0
V
CANH
V
CANL




























CANBus
NodeC
Transmits
NodeB
Transmits
Cwins
arbitration
Bwins
arbitration













































































CANH
CANL
CANBus-Line
R
L
CAN
Controller
(Node #1)
DSP orC
CAN
Transceiver
CAN
Controller
(Node #n)
DSP orC
CAN
Transceiver
CAN
Controller
(Node #2)
DSP orC
CAN
Transceiver
CAN
Controller
(Node #3)
DSP orC
CAN
Transceiver
R
L






































Driver
Input
CAN
Bus
Receiver
Output
Recessive Recessive Dominant
CANH
CANL
















NodeCwinsarbitration
ACKbit
ACKbit
ACKbit
CAN
Bus
Node A
Data
NodeB
Data
NodeC
Data
120 120
SN65HVD235
TMS320LF2407A
DSP withCAN
Controller
SN65HVD233 SN65HVD230
TMS320LF2810
DSP withCAN
Controller
TMS320LF2812
DSP withCAN
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
NodeB NodeC
TEKTRONIX
P6247
DIFFERENTIAL
PROBE
toothersensoror
controlequipment
toothersensoror
controlequipment
toothersensoror
controlequipment







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
















































































































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