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In the extended CAN data frame, the 32-bit arbitration field is followed by the SOF bit. The first 11 bits of the arbitration field are the Most Significant bit (MSb) of the 29-bit identifier (basic lD). Immediately following these 11 bits is the Substitute Remote Request (SRR) bit, which is defined as a recessive state. The SRR bit is followed by the lDE bit, which indicates that this is an extended CAN frame when it is recessive.
It should be noted that if the bus arbitration fails after the first 11 bits of the extended frame identifier are transmitted, and one of the nodes waiting for arbitration issues a standard CAN data frame (11-bit identifier), then the node issues The dominant lDE bit causes the standard CAN frame to win bus arbitration. In addition, extending the CAN frame
The SRR bit should be recessive to allow the node that is sending the standard CAN remote frame to issue a dominant RTR bit. The SRR and lDE bits are followed by the remaining 18 bits of the identifier (extended lD) and a remote transmit request bit.
In order for both standard and extended frames to be sent over the shared network, the 29-bit extended message identifier should be split into high 11 bits and low 18 bits. Splitting ensures that the lDE bit is consistent in the standard data frame and the extended data frame. The arbitration field is followed by a 6-bit control field. The first two bits of the control field are reserved and must be defined as dominant. The remaining 4 bits are DLC and are used to specify the number of bytes of data contained in the message. The other parts of the extended data frame (data field, CRC field, acknowledgment field, end of frame, and discontinuity) are identical in structure to standard data frames (see "Standard Data Frames").
Data frame part
CRC checksum end of frame
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