CAN bus

Beaglebone CAN protocol: 2.0(A and B)

• Total message length 44 bits + up to 64 bits
• Message Breakdown:
• 1 bit Start
• 11 bit identifier - sets priority
• 1 bit RTR
• 1 bit identifier extension bit (value 0 to denote 11bit identifier length)
• 1 bit reserved bit
• 4 bit data length (0 - 8)
• 0 - 64 bits data
• 15 bits cyclic redundancy check
• 1 bit CRC delimiter
• 1 bit Acknowledge slot
• 1 bit Acknowledge delimiter
• 7 bit End

Will we need to manually construct the entire message?

Bit stuffing: add a bit of opposite polarity after any consecutive 5 bits of the same polarity (even if there is no 6th bit of that polarity). These are automatically removed by the receiver.

https://www.kvaser.com/wp-content/uploads/2014/02/ck301p.pdf

Copley doc information

Copley documentation