Hi all,
This is a sample of CAN protocol, want to ask about the Data Frame.
I think the very left low signal is "SOF".
I learned Arbitration field is 12 bit (Message Identifier 11 bit + RTR 1bit), but the total CAN ID field on the photo is 16bit.
Also, I learned that Control field is 6 bit, the Control field on the picture is only 4 bit.
I want to know why they are different.
Aslo, when there are Standard ID and Extended ID together, standard ID has a priority in the arbitration?
On the picture, the sum of Standard ID is over than sum of Extended ID, but standard ID has a priority.
There is NAK(Non-Ack) at the end of Standard ID, what is this meaning on the system?
Thank you