ST72521M7TC View Datasheet(PDF) - STMicroelectronics

Part Name

Description

MFG CO.

ST72521M7TC

8-BIT MCU WITH NESTED INTERRUPTS, FLASH, 10-BIT ADC, FIVE TIMERS, SPI, SCI, I2C, CAN INTERFACE

STMicroelectronics 

ST72521M/R/AR

CONTROLLER AREA NETWORK (Cont’d)

Figure 68. CAN Frames

Inter-Frame Space

Data Frame

44 + 8 * N

Arbitration Field Control Field Data Field

12

6

8*N

ID

DLC

CRC Field

16

CRC

Inter-Frame Space

or Overload Frame

Ack Field

2

7

EOF

Inter-Frame Space

Remote Frame

44

Arbitration Field Control Field

12

6

ID

DLC

CRC Field

16

CRC

Inter-Frame Space

or Overload Frame

Ack Field End Of Frame

2

7

Data Frame or

Remote Frame

Error Frame

Inter-Frame Space

or Overload Frame

Error Flag Flag Echo Error Delimiter

6

≤6

8

Any Frame

Inter-Frame Space

Data Frame or

Remote Frame

Intermission

3

Suspend

Transmission

Bus Idle

8

End Of Frame or

Error Delimiter or

Overload Delimiter

Inter-Frame Space

Overload Frame or Error Frame

Overload Flag Overload Delimiter

6

8

Notes:

•0

<= N

<= 8

• SOF = Start Of Frame

• ID = Identifier

• RTR = Remote Transmission Request

• IDE = Identifier Extension Bit

• r0 = Reserved Bit

• DLC = Data Length Code

• CRC = Cyclic Redundancy Code

• Error flag: 6 dominant bits if node is error

active else 6 recessive bits.

• Suspend transmission: applies to error

passive nodes only.

• EOF = End of Frame

• ACK = Acknowledge bit

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