1270:
then a logical 1 is seen by all of the nodes, including both the transmitting node(s) and receiving node(s). If a logical 0 is transmitted by all transmitting node(s) at the same time, then a logical 0 is seen by all nodes. If a logical 0 is being transmitted by one or more nodes, and a logical 1 is being transmitted by one or more nodes, then a logical 0 is seen by all nodes including the node(s) transmitting the logical 1. When a node transmits a logical 1 but sees a logical 0, it realizes that there is a contention and it quits transmitting. By using this process, any node that transmits a logical 1, when another node transmits a logical 0, loses the arbitration and drops out. A node that loses arbitration re-queues its message for later transmission and the CAN frame bit-stream continues without error until only one node is left transmitting. This means that the node that transmits the first 1 loses arbitration. Since the 11 (or 29 for CAN 2.0B) bit identifier is transmitted by all nodes at the start of the CAN frame, the node with the lowest identifier transmits more zeros at the start of the frame, and that is the node that wins the arbitration or has the highest priority.
821:
identifier, while CAN 2.0B employs a 29-bit identifier. The longer identifier in CAN 2.0B allows for a greater number of unique message identifiers, which is beneficial in complex systems with many nodes and data types. However, this increase in unique message identifiers also increases frame length, which in turn reduces the maximum data rate. Additionally, the extended identifier provides finer control over message prioritization due to more available identifier values. This, however, may introduce compatibility issues; CAN 2.0B devices can generally communicate with CAN 2.0A devices, but not vice versa, due to potential errors in handling longer identifiers. High-speed CAN 2.0 supports bit rates from 40 kbit/s to 1 Mbit/s and is the basis for higher-layer protocols. In contrast, low-speed CAN 2.0 supports bit rates from 40 kbit/s to 125 kbit/s and offers fault tolerance by allowing communication to continue despite a fault in one of the two wires, with each node maintaining its own termination.
1659:
order to improve interoperability, many vehicle makers have generated specifications describing a set of allowed CAN transceivers in combination with requirements on the parasitic capacitance on the line. The allowed parasitic capacitance includes both capacitors as well as ESD protection (ESD against ISO 7637-3). In addition to parasitic capacitance, 12V and 24V systems do not have the same requirements in terms of line maximum voltage. Indeed, during jump start events light vehicle lines can go up to 24V while truck systems can go as high as 36V. New solutions are emerging, allowing the same component to be used for CAN as well as
1813:
1595:
650:, doors, mirror adjustment, battery and recharging systems for hybrid/electric cars, etc. Some of these form independent subsystems, but communication among others is essential. A subsystem may need to control actuators or receive feedback from sensors. The CAN standard was devised to fill this need. One key advantage is that interconnection between different vehicle systems can allow a wide range of safety, economy and convenience features to be implemented using software alone - functionality which would add cost and complexity if such features were
2383:
1637:
3234:
mechanisms; e.g., to authenticate incoming commands or the presence of certain devices on the network. Failure to implement adequate security measures may result in various sorts of attacks if the opponent manages to insert messages on the bus. While passwords exist for some safety-critical functions, such as modifying firmware, programming keys, or controlling antilock brake actuators, these systems are not implemented universally and have a limited number of seed/key pairs.
1043:
981:
4753:
1074:
836:
at a higher data rate to improve throughput, which is particularly useful in electrically noisy environments for better noise immunity. CAN FD also introduces a flexible data field size, increasing the maximum size from 8 bytes to 64 bytes. This flexibility allows for more efficient data transmission by reducing the number of frames needed for large data transfers, which is beneficial for applications like high-resolution sensor data or software updates.
1655:
electrical engineering convention that power sources are terminated at female connectors. Adoption of this standard avoids the need to fabricate custom splitters to connect two sets of bus wires to a single D connector at each node. Such nonstandard (custom) wire harnesses (splitters) that join conductors outside the node reduce bus reliability, eliminate cable interchangeability, reduce compatibility of wiring harnesses, and increase cost.
1615:-2:2003, which is now widely accepted. However, the mechanical aspects of the physical layer (connector type and number, colors, labels, pin-outs) have yet to be formally specified. As a result, an automotive ECU will typically have a particular—often custom—connector with various sorts of cables, of which two are the CAN bus lines. Nonetheless, several de facto standards for mechanical implementation have emerged, the most common being the
1505:
36:
1007:
77:
268:
3806:
871:
191:
124:
1169:
1266:
recessive bit then there is a collision and the dominant bit wins. This means there is no delay to the higher-priority message, and the node transmitting the lower-priority message automatically attempts to re-transmit six-bit clocks after the end of the dominant message. This makes CAN very suitable as a real-time prioritized communications system.
2338:
active error flag. The overload flag's form destroys the fixed form of the intermission field. As a consequence, all other stations also detect an overload condition and on their part start transmission of an overload flag. Overload
Delimiter consists of eight recessive bits. The overload delimiter is of the same form as the error delimiter.
2347:
it knows that no receiver found a valid frame. A receiving node may transmit a recessive to indicate that it did not receive a valid frame, but another node that did receive a valid frame may override this with a dominant. The transmitting node cannot know that the message has been received by all of the nodes on the CAN network.
3027:, device addressing, and transportation of data blocks larger than one message, and above all, application data, many implementations of higher layer protocols were created. Several are standardized for a business area, although all can be extended by each manufacturer. For passenger cars, each manufacturer has its own standard.
1516:
process is done continuously at every recessive to dominant transition to ensure the transmitter and receiver stay in sync. Continuously resynchronizing reduces errors induced by noise, and allows a receiving node that was synchronized to a node that lost arbitration to resynchronize to the node which won arbitration.
1484:
required to ensure that all messages would meet their deadlines. However, if IDs are instead determined based on the deadline of the message, the lower the numerical ID and hence the higher the message priority, then bus use of 70 to 80% can typically be achieved before any message deadlines are missed.
544:
1.0, or CAN with
Flexible Data-Rate. This specification uses a different frame format that allows a different data length as well as optionally switching to a faster bit rate after the arbitration is decided. CAN FD is compatible with existing CAN 2.0 networks so new CAN FD devices can coexist on the
521:
Bosch published several versions of the CAN specification. The latest is CAN 2.0, published in 1991. This specification has two parts. Part A is for the standard format with an 11-bit identifier, and part B is for the extended format with a 29-bit identifier. A CAN device that uses 11-bit identifiers
3233:
CAN is a low-level protocol and does not support any security features intrinsically. There is also no encryption in standard CAN implementations, which leaves these networks open to man-in-the-middle frame interception. In most implementations, applications are expected to deploy their own security
2981:
Mbit/s for use within road vehicles. It describes the medium access unit functions as well as some medium-dependent interface features according to ISO 8802-2. This represents an extension of ISO 11898-2, dealing with new functionality for systems requiring low-power consumption features while there
2401:
All fields in the frame are stuffed with the exception of the CRC delimiter, ACK field and end of frame which are a fixed size and are not stuffed. In the fields where bit stuffing is used, six consecutive bits of the same polarity (111111 or 000000) are considered an error. An active error flag can
2346:
The acknowledge slot is used to acknowledge the receipt of a valid CAN frame. Each node that receives the frame, without finding an error, transmits a dominant level in the ACK slot and thus overrides the recessive level of the transmitter. If a transmitter detects a recessive level in the ACK slot,
2337:
The start of an overload frame due to case 1 is only allowed to be started at the first bit time of an expected intermission, whereas overload frames due to case 2 start one bit after detecting the dominant bit. Overload Flag consists of six dominant bits. The overall form corresponds to that of the
1767:
supports a length of 29 bits for the identifier, made up of the 11-bit identifier (base identifier) and an 18-bit extension (identifier extension). The distinction between CAN base frame format and CAN extended frame format is made by using the IDE bit, which is transmitted as dominant in case of an
1746:
V. Multiple access on such systems normally relies on the media supporting three states (active high, active low and inactive tri-state) and is dealt with in the time domain. Multiple access on CAN bus is achieved by the electrical logic of the system supporting just two states that are conceptually
1658:
The absence of a complete physical layer specification (mechanical in addition to electrical) freed the CAN bus specification from the constraints and complexity of physical implementation. However, it left CAN bus implementations open to interoperability issues due to mechanical incompatibility. In
976:
signals. Two signals, CAN high (CANH) and CAN low (CANL) are either driven to a "dominant" state with CANH > CANL, or not driven and pulled by passive resistors to a "recessive" state with CANH ≤ CANL. A 0 data bit encodes a dominant state, while a 1 data bit encodes a recessive state, supporting
835:
and released in 2012 to meet the need for increased data transfer in modern high-performance vehicles. It offers variable data rates during the transmission of a single frame, allowing the arbitration phase to occur at a lower data rate for robust communication, while the data payload is transmitted
820:
Due to its legacy, CAN 2.0 is the most widely used protocol with a maximum payload size of eight bytes and a typical baud rate of 500 kbit/s. Classical CAN, which includes CAN 2.0A (Standard CAN) and CAN 2.0B (Extended CAN), primarily differs in identifier field lengths: CAN 2.0A uses an 11-bit
673:
functionality takes input from the vehicle's tilt sensor (also used by the burglar alarm) and the road speed sensors (also used by the ABS, engine control and traction control) via the CAN bus to determine if the vehicle is stopped on an incline. Similarly, inputs from seat belt sensors (part of the
1697:
V linearly regulated supply voltage for the transceivers from the universal supply rail provided by the bus. This usually allows operating margin on the supply rail sufficient to allow interoperability across many node types. Typical values of supply voltage on such networks are 7 to 30 V. However,
1113:
With both high-speed and low-speed CAN, the speed of the transition is faster when a recessive-to-dominant transition occurs since the CAN wires are being actively driven. The speed of the dominant-to-recessive transition depends primarily on the length of the CAN network and the capacitance of the
715:
Sensors can be placed at the most suitable place, and their data used by several ECUs. For example, outdoor temperature sensors (conventionally placed in the front) can be placed in the outside mirrors, avoiding heating by the engine, and data used by the engine, the climate control, and the driver
2877:
An undesirable side effect of the bit stuffing scheme is that a small number of bit errors in a received message may corrupt the destuffing process, causing a larger number of errors to propagate through the destuffed message. This reduces the level of protection that would otherwise be offered by
2367:
bit of the next frame. Overload frames and error frames are not preceded by an interframe space and multiple overload frames are not separated by an interframe space. Interframe space contains the bit fields intermission and bus idle, and suspend transmission for error passive stations, which have
1559:
Most of the CAN standard applies to the transfer layer. The transfer layer receives messages from the physical layer and transmits those messages to the object layer. The transfer layer is responsible for bit timing and synchronization, message framing, arbitration, acknowledgment, error detection
1493:
Synchronization is important during arbitration since the nodes in arbitration must be able to see both their transmitted data and the other nodes' transmitted data at the same time. Synchronization is also important to ensure that variations in oscillator timing between nodes do not cause errors.
1445:
When ID bit 4 is transmitted, the node with the ID of 16 transmits a 1 (recessive) for its ID, and the node with the ID of 15 transmits a 0 (dominant) for its ID. When this happens, the node with the ID of 16 knows it transmitted a 1, but sees a 0 and realizes that there is a collision and it lost
1273:
For example, consider an 11-bit ID CAN network, with two nodes with IDs of 15 (binary representation, 00000001111) and 16 (binary representation, 00000010000). If these two nodes transmit at the same time, each will first transmit the start bit then transmit the first six zeros of their ID with no
839:
CAN FD maintains backward compatibility with CAN 2.0 devices by using the same frame format as CAN 2.0B, with the addition of a new control field to indicate whether the frame is a CAN FD frame or a standard CAN 2.0 frame. This allows CAN FD devices to coexist with CAN 2.0 devices on the same bus,
3217:
control systems. It works on extending the features, improves technical content and ensures that the current legal standards for lift control systems are met. The first version of CiA 417 was published (available for CiA members) in summer 2003, version 2.0 in
February 2010, version 2.1.0 in July
2970:
specifies time-triggered communication in the CAN (TTCAN). It is applicable to setting up a time-triggered interchange of digital information between electronic control units (ECU) of road vehicles equipped with CAN, and specifies the frame synchronization entity that coordinates the operation of
1768:
11-bit frame, and transmitted as recessive in case of a 29-bit frame. CAN controllers that support extended frame format messages are also able to send and receive messages in CAN base frame format. All frames begin with a start-of-frame (SOF) bit that denotes the start of the frame transmission.
1716:
During a recessive state, the signal lines and resistor(s) remain in a high-impedance state with respect to both rails. Voltages on both CAN+ and CAN− tend (weakly) towards a voltage midway between the rails. A recessive state is present on the bus only when none of the transmitters on the bus is
1496:
Synchronization starts with a hard synchronization on the first recessive to dominant transition after a period of bus idle (the start bit). Resynchronization occurs on every recessive to dominant transition during the frame. The CAN controller expects the transition to occur at a multiple of the
1269:
The exact voltages for a logical 0 or 1 depend on the physical layer used, but the basic principle of CAN requires that each node listen to the data on the CAN network including the transmitting node(s) itself (themselves). If a logical 1 is transmitted by all transmitting nodes at the same time,
680:
systems: when the driver engages reverse gear, the transmission control unit can send a signal via the CAN bus to activate both the parking sensor system and the door control module for the passenger side door mirror to tilt downward to show the position of the curb. The CAN bus also takes inputs
1670:-2:2003 is achieved by maintaining the differential impedance of the bus at a low level with low-value resistors (120 ohms) at each end of the bus. However, when dormant, a low-impedance bus such as CAN draws more current (and power) than other voltage-based signaling buses. On CAN bus systems,
1515:
A transition that occurs before or after it is expected causes the controller to calculate the time difference and lengthen phase segment 1 or shorten phase segment 2 by this time. This effectively adjusts the timing of the receiver to the transmitter to synchronize them. This resynchronization
1492:
All nodes on the CAN network must operate at the same nominal bit rate, but noise, phase shifts, oscillator tolerance and oscillator drift mean that the actual bit rate might not be the nominal bit rate. Since a separate clock signal is not used, a means of synchronizing the nodes is necessary.
1483:
In the early 1990s, the choice of IDs for messages was done simply on the basis of identifying the type of data and the sending node; however, as the ID is also used as the message priority, this led to poor real-time performance. In those scenarios, a low CAN bus use of around 30% was commonly
1265:
bits, where dominant is a logical 0 (actively driven to a voltage by the transmitter) and recessive is a logical 1 (passively returned to a voltage by a resistor). The idle state is represented by the recessive level (Logical 1). If one node transmits a dominant bit and another node transmits a
3270:
Typically the CAN bus monitor will listen to the traffic on the CAN bus in order to display it in a user interface. Often the CAN bus monitor offers the possibility to simulate CAN bus activity by sending CAN frames to the bus. The CAN bus monitor can therefore be used to validate expected CAN
1654:
mechanical standard for CAN could be implemented with the node having both male and female 9-pin D-sub connectors electrically wired to each other in parallel within the node. Bus power is fed to a node's male connector and the bus draws power from the node's female connector. This follows the
3279:
Bosch holds patents on the technology, though those related to the original protocol have now expired. Manufacturers of CAN-compatible microprocessors pay license fees to Bosch for use of the CAN trademark and any of the newer patents related to CAN FD, and these are normally passed on to the
1225:
consists primarily of the ID (identifier), which represents the priority of the message, and up to eight data bytes. A CRC, acknowledge slot and other overhead are also part of the message. The improved CAN FD extends the length of the data section to up to 64 bytes per frame. The message is
2992:
Mbit/s for use within road vehicles. It describes the medium access unit functions as well as some medium-dependent interface features according to ISO 8802-2. This represents an extension of ISO 11898-2 and ISO 11898-5, specifying a selective wake-up mechanism using configurable CAN frames.
1610:
protocol with only abstract requirements for the physical layer, e.g., asserting the use of a medium with multiple-access at the bit level through the use of dominant and recessive states. The electrical aspects of the physical layer (voltage, current, number of conductors) were specified in
848:
CAN XL, specified by CiA 610-1 and standardized as part of ISO11898-1, supports up to 2,048-byte payloads and data rates up to 20 Mbit/s. It bridges the gap between CAN FD and
Ethernet (100BASE-T1) while maintaining CAN's collision-resolution benefits. CAN XL controllers can also handle
3014:
CAN DBC files are standardized ASCII files used to define messages sent over a CAN bus. They define the format and purpose of each type of message, including the message IDs, signal names, scaling, offsets, and data types, and provide an interoperable aid to developing CAN bus applications.
1253:
CAN data transmission uses a lossless bitwise arbitration method of contention resolution. This arbitration method requires all nodes on the CAN network to be synchronized to sample every bit on the CAN network at the same time. This is why some call CAN synchronous. Unfortunately the term
1692:
V rail running along the bus to maintain a high degree of voltage association between the nodes. Also, in the de facto mechanical configuration mentioned above, a supply rail is included to distribute power to each of the transceiver nodes. The design provides a common supply for all the
2240:
There are two differences between a data frame and a remote frame. Firstly the RTR-bit is transmitted as a dominant bit in the data frame and secondly in the remote frame there is no data field. The DLC field indicates the data length of the requested message (not the transmitted
537:, and ISO 11898-2 which covers the CAN physical layer for high-speed CAN. ISO 11898-3 was released later and covers the CAN physical layer for low-speed, fault-tolerant CAN. The physical layer standards ISO 11898-2 and ISO 11898-3 are not part of the Bosch CAN 2.0 specification.
2219:
It is physically possible for a value between 9–15 to be transmitted in the 4-bit DLC, although the data is still limited to eight bytes. Certain controllers allow the transmission or reception of a DLC greater than eight, but the actual data length is always limited to eight
2009:
It is physically possible for a value between 9–15 to be transmitted in the 4-bit DLC, although the data is still limited to eight bytes. Certain controllers allow the transmission or reception of a DLC greater than eight, but the actual data length is always limited to eight
2550:
is the size of the frame before stuffing, in the worst case one bit will be added every four original bits after the first one (hence the −1 at the numerator) and, because of the layout of the bits of the header, only 34 out of 44 of them can be subject to bit stuffing.
1704:-2 describes the electrical implementation formed from a multi-dropped single-ended balanced line configuration with resistor termination at each end of the bus. In this configuration a dominant state is asserted by one or more transmitters switching the CAN− to supply 0
3005:
establishes test cases and test requirements to realize a test plan verifying if the CAN transceiver with implemented selective wake-up functions conform to the specified functionalities. The kind of testing defined in ISO 16845-2:2018 is named as conformance testing.
1693:
transceivers. The actual voltage to be applied by the bus and which nodes apply to it are application-specific and not formally specified. Common practice node design provides each node with transceivers that are optically isolated from their node host and derive a 5
661:: Various sensor inputs from around the vehicle (speed sensors, steering angle, air conditioning on/off, engine temperature) are collated via the CAN bus to determine whether the engine can be shut down when stationary for improved fuel economy and emissions.
2362:
Data frames and remote frames are separated from preceding frames by a bit field called interframe space. Interframe space consists of at least three consecutive recessive (1) bits. Following that, if a dominant bit is detected, it will be regarded as the
1712:
V bus voltage thereby forming a current path through the resistors that terminate the bus. As such the terminating resistors form an essential component of the signaling system, and are included, not just to limit wave reflection at high frequency.
1500:
The adjustment is accomplished by dividing each bit into a number of time slices called quanta, and assigning some number of quanta to each of the four segments within the bit: synchronization, propagation, phase segment 1 and phase segment 2.
1065:
kbit/s), uses a linear bus, star bus or multiple star buses connected by a linear bus and is terminated at each node by a fraction of the overall termination resistance. The overall termination resistance should be close to, but not less than,
2236:
Generally data transmission is performed on an autonomous basis with the data source node (e.g., a sensor) sending out a data frame. It is also possible, however, for a destination node to request the data from the source by sending a remote
692:
systems: The inputs from the parking sensors are also used by the CAN bus to feed outside proximity data to driver assist systems such as Lane
Departure warning, and more recently, these signals travel through the CAN bus to actuate
1446:
arbitration. Node 16 stops transmitting which allows the node with ID of 15 to continue its transmission without any loss of data. The node with the lowest ID will always win the arbitration and therefore has the highest priority.
3767:
1117:
High-speed CAN is usually used in automotive and industrial applications where the bus runs from one end of the environment to the other. Fault-tolerant CAN is often used where groups of nodes need to be connected together.
2405:
Bit stuffing means that data frames may be larger than one would expect by simply enumerating the bits shown in the tables above. The maximum increase in size of a CAN frame (base format) after bit stuffing is in the case
1018:
V when any device is transmitting a dominant (0), while if no device is transmitting a dominant, the terminating resistors passively return the two wires to the recessive (1) state with a nominal differential voltage of
2955:
specifies low-speed, fault-tolerant, medium-dependent interface for setting up an interchange of digital information between electronic control units of road vehicles equipped with the CAN at transmission rates above
954:
up to an embedded computer running extensive software. Such a computer may also be a gateway allowing a general-purpose computer (like a laptop) to communicate over a USB or
Ethernet port to the devices on a CAN bus.
2878:
the CRC against the original errors. This deficiency of the protocol has been addressed in CAN FD frames by the use of a combination of fixed stuff bits and a counter that records the number of stuff bits inserted.
2822:
2671:
2509:
724:(Local Interconnect Network) standard has been introduced to complement CAN for non-critical subsystems such as air-conditioning and infotainment, where data transmission speed and reliability are less critical.
2940:
Mbit/s) medium access unit (MAU), and some medium-dependent interface (MDI) features (according to ISO 8802-3), which comprise the physical layer of the controller area network. ISO 11898-2 uses a two-wire
1197:
Receiving: the CAN controller stores the received serial bits from the bus until an entire message is available, which can then be fetched by the host processor (usually by the CAN controller triggering an
1759:) formats: the standard or base frame format (described in CAN 2.0 A and CAN 2.0 B), and the extended frame format (described only by CAN 2.0 B). The only difference between the two formats is that the
453:
standard designed to enable efficient communication primarily between electronic control units (ECUs). Originally developed to reduce the complexity and cost of electrical wiring in automobiles through
1081:
Low-speed fault-tolerant CAN signaling operates similarly to high-speed CAN, but with larger voltage swings. The dominant state is transmitted by driving CANH towards the device power supply voltage (5
3033:(CiA) is the international users' and manufacturers' organization that develops and supports CAN-based higher-layer protocols and their international standardization. Among these specifications are:
1131:
High-speed CAN uses a 120 Ω resistor at each end of a linear bus. Low-speed CAN uses resistors at each node. Other types of terminations may be used such as the
Terminating Bias Circuit defined in
2255:
In the event of a data frame and a remote frame with the same identifier being transmitted at the same time, the data frame wins arbitration due to the dominant RTR bit following the identifier.
3828:
522:
is commonly called CAN 2.0A, and a CAN device that uses 29-bit identifiers is commonly called CAN 2.0B. These standards are freely available from Bosch along with other specifications and
146:
2326:
The overload frame contains the two bit fields: Overload Flag and
Overload Delimiter. There are two kinds of overload conditions that can lead to the transmission of an overload flag:
1720:
During a dominant state, the signal lines and resistor(s) move to a low-impedance state with respect to the rails so that current flows through the resistor. CAN+ voltage tends to +5
3774:
3250:
are tools that collect, analyse, decode and store signals so people can view the high-speed waveforms at their leisure. There are also specialist tools as well as CAN bus monitors.
1512:
The number of quanta the bit is divided into can vary by controller, and the number of quanta assigned to each segment can be varied depending on bit rate and network conditions.
3902:
470:, allowing the highest priority device to continue transmitting if multiple devices attempt to send data simultaneously, while others back off. Its reliability is enhanced by
3892:
1731:
Irrespective of signal state the signal lines are always in a low-impedance state with respect to one another by virtue of the terminating resistors at the end of the bus.
792:
The CAN bus protocol is widely implemented due to its fault tolerance in electrically noisy environments such as model railroad sensor feedback systems by major commercial
3428:
2390:
To ensure enough transitions to maintain synchronization, a bit of opposite polarity is inserted after five consecutive bits of the same polarity. This practice is called
1804:
The CAN standard requires that the implementation must accept the base frame format and may accept the extended frame format, but must tolerate the extended frame format.
3368:
704:) via the CAN bus to the ABS module to initiate an imperceptible application of the brakes while driving to clear moisture from the brake rotors. Some high-performance
2870:
2719:
1472:
standard allows increasing the bit rate after arbitration and can increase the speed of the data section by a factor of up to ten or more of the arbitration bit rate.
2846:
2695:
1742:, etc. which employ differential line drivers/ receivers and use a signaling system based on the differential mode voltage of the balanced line crossing a notional 0
1212:
Receiving: it converts the data stream from CAN bus levels to levels that the CAN controller uses. It usually has protective circuitry to protect the CAN controller.
2754:
2603:
2548:
3989:
2922:
and provides the characteristics for setting up an interchange of digital information between modules implementing the CAN DLL with detailed specification of the
2893:
model) of serial communication category called controller area network that supports distributed real-time control and multiplexing for use within road vehicles.
2402:
be transmitted by a node when an error has been detected. The active error flag consists of six consecutive dominant bits and violates the rule of bit stuffing.
3753:
3473:
Comparison of Event-Triggered and Time-Triggered
Concepts with Regard to Distributed Control Systems A. Albert, Robert Bosch GmbH Embedded World, 2004, Nürnberg
1480:
Message IDs must be unique on a single CAN bus, otherwise two nodes would continue transmission beyond the end of the arbitration field (ID) causing an error.
98:
946:
is a major application domain). Two or more nodes are required on the CAN bus to communicate. A node may interface to devices from simple digital logic e.g.
674:
airbag controls) are fed from the CAN bus to determine if the seat belts are fastened, so that the parking brake will automatically release upon moving off.
1674:
operation, where current in one signal line is exactly balanced by current in the opposite direction in the other signal provides an independent, stable 0
1497:
nominal bit time. If the transition does not occur at the exact time the controller expects it, the controller adjusts the nominal bit time accordingly.
1121:
The specifications require the bus be kept within a minimum and maximum common mode bus voltage but do not define how to keep the bus within this range.
2438:
The stuffing bit itself may be the first of the five consecutive identical bits, so in the worst case there is one stuffing bit per four original bits.
2999:
provides the methodology and abstract test suite necessary for checking the conformance of any CAN implementation of the CAN specified in ISO 11898-1.
552:(OBD)-II vehicle diagnostics standard. The OBD-II standard has been mandatory for all cars and light trucks sold in the United States since 1996. The
3942:
1201:
Sending: the host processor sends the transmit message(s) to a CAN controller, which transmits the bits serially onto the bus when the bus is free.
209:
3979:
545:
same network with existing CAN devices, using the same CAN 2.0 communication parameters. As of 2018, Bosch was active in extending CAN standards.
3398:
4914:
4787:
3288:
containing CAN-compatible modules need to pay a fee for the CAN Protocol
License if they wish to use the CAN trademark or CAN FD capabilities.
2914:
of the controller area network (CAN). This document describes the general architecture of CAN in terms of hierarchical layers according to the
1682:
wires in a shielded cable to minimize RF emission and reduce interference susceptibility in the already noisy RF environment of an automobile.
530:
849:
Classical CAN and CAN FD communication, ensuring compatibility in mixed networks. Its large data fields allow for higher layer protocols like
3150:
771:'s Modular Prosthetic Limb (MPL) uses a local CAN bus to facilitate communication between servos and microcontrollers in the prosthetic arm.
3131:
2760:
2609:
2447:
2350:
Often, the mode of operation of the device is to re-transmit unacknowledged frames over and over. This may lead to eventually entering the
5297:
4748:
Interfaces are listed by their speed in the (roughly) ascending order, so the interface at the end of each section should be the fastest.
3213:
The CANopen Special Interest Group (SIG) "Lift Control", which was founded in 2001, develops the CANopen application profile CiA 417 for
3119:
3046:
3042:
3691:
3677:
4193:
3271:
traffic from a given device or to simulate CAN traffic in order to validate the reaction from a given device connected to the CAN bus.
3958:
85:
4721:
779:
4350:
2386:
CAN frame before and after the addition of stuff bits (in purple). An incorrect CRC is used for bit stuffing illustration purposes.
3719:
2971:
both logical link and media access controls in accordance with ISO 11898-1, to provide the time-triggered communication schedule.
4213:
3281:
17:
3432:
2267:
The first field is given by the superposition of ERROR FLAGS (6–12 dominant/recessive bits) contributed from different stations.
5282:
5075:
4815:
4020:
3376:
556:
standard has been mandatory for all petrol vehicles sold in the European Union since 2001 and all diesel vehicles since 2004.
3568:
3483:
4401:
4072:
3953:
Freeware Bit-Timing calculator for Windows, supports a lot of microcontrollers, e.g. Atmel, STM32, Microchip, Renesas, ...
1101:
V. This allows a simpler receiver that just considers the sign of CANH−CANL. Both wires must be able to handle −27 to +40
4107:
3603:
4909:
4780:
4454:
4293:
4223:
3501:
3604:"ISO 11898-1:2003 - Road vehicles -- Controller area network (CAN) -- Part 1: Data link layer and physical signalling"
3518:
4887:
4283:
3873:
3854:
3745:
917:
245:
227:
172:
63:
3879:
1093:
V when transmitting a dominant (0), while the termination resistors pull the bus to a recessive state with CANH at 0
5319:
5200:
5105:
4882:
4381:
3542:
ISO 11898-1:2015 – Road vehicles — Controller area network (CAN) — Part 1: Data link layer and physical signalling
840:
while higher data rates and larger data payloads are available only when communicating with other CAN FD devices.
3457:
2291:
six recessive bits – Transmitted by a node detecting an active error frame on the network that is in error state
1254:
synchronous is imprecise since the data is transmitted in an asynchronous format, namely without a clock signal.
533:(ISO) released CAN standard ISO 11898, which was later restructured into two parts: ISO 11898-1 which covers the
495:
5416:
5095:
4173:
3705:
5411:
4867:
4773:
4725:
4376:
4345:
789:
range uses CAN bus protocol over coaxial cable, to connect its CSSC – Desktop Scroll Control to the main unit
3998:
3947:
3561:
Automotive cybersecurity engineering handbook: the automotive engineer's roadmap to cyber-resilient vehicles
2311:
When TEC or REC is greater than 127 and less than 255, a Passive Error frame will be transmitted on the bus.
2148:
1938:
5145:
5135:
4796:
4323:
2317:
When TEC is greater than 255, then the node enters into Bus Off state, where no frames will be transmitted.
5349:
4820:
4649:
4588:
4443:
3125:
1734:
This signaling strategy differs significantly from other balanced line transmission technologies such as
1698:
the lack of a formal standard means that system designers are responsible for supply rail compatibility.
1678:
V reference for the receivers. Best practice determines that CAN bus balanced pair signals be carried in
748:
in general automation environments, primarily due to the low cost of some CAN controllers and processors.
3908:
3617:
5401:
5354:
5027:
4825:
4248:
4013:
3242:
When developing or troubleshooting the CAN bus, examination of hardware signals can be very important.
775:
768:
721:
4618:
5100:
5009:
4303:
2330:
The internal conditions of a receiver, which requires a delay of the next data frame or remote frame.
947:
886:
459:
3204:(Very Simple Control Protocol) a free automation protocol suitable for all sorts of automation tasks
761:
using the game's GPS Data Logger function, which would then allow players to race against real laps.
5421:
5080:
5032:
3836:
3832:
3816:
2281:
six dominant bits – Transmitted by a node detecting an error on the network that is in error state
963:
899:
764:
737:
DI2 electronic gear shift system for road bicycles since 2009, and is also used by the Ansmann and
635:
627:
154:
150:
134:
49:
1186:
The host processor decides what the received messages mean and what messages it wants to transmit.
5312:
5230:
5170:
5140:
4756:
4731:
4623:
4278:
1242:
1180:
943:
793:
619:
471:
90:
3587:
553:
4897:
4313:
3195:
1812:
1688:-2 provides some immunity to common mode voltage between transmitter and receiver by having a 0
1153:
970:
3952:
2852:
2701:
1793:
The data frame is the only frame for actual data transmission. There are two message formats:
5406:
5344:
4902:
4577:
4530:
4386:
4158:
4006:
3315:
2927:
2828:
2677:
1149:
467:
3932:
5370:
4573:
4426:
4308:
3660:
2923:
2730:
2579:
2524:
2115:
Reserved bits which must be set dominant (0), but accepted as either dominant or recessive
549:
407:
281:
3937:
3324: – Serial communications protocol mainly developed for programmable logic controllers
1148:
and ground in addition to the CAN signaling on a four-wire cable. This provides automatic
8:
5042:
4892:
4485:
4040:
3024:
1014:
High-speed CAN signaling drives the CANH wire towards 3.5 V and the CANL wire towards 1.5
799:
700:
Auto brake wiping: Input is taken from the rain sensor (used primarily for the automatic
689:
664:
623:
474:, which mitigates electrical noise. Common versions of the CAN protocol include CAN 2.0,
3723:
3354:
2314:
When TEC and REC is less than 128, an Active Error frame will be transmitted on the bus.
1160:. An ISO11783 network is designed for hot plug-in and removal of bus segments and ECUs.
478:, and CAN XL which vary in their data rate capabilities and maximum data payload sizes.
4872:
4857:
4029:
3642:
2395:
1594:
1524:
The CAN protocol, like many networking protocols, can be decomposed into the following
1227:
854:
515:
2100:
Must be dominant (0) for data frames and recessive (1) for remote request frames (see
1879:
Must be dominant (0) for data frames and recessive (1) for remote request frames (see
1816:
A complete CAN bus frame, including stuff bits, a correct CRC, and inter-frame spacing
802:
have implemented the protocol as DiveCAN to use integrating their dive computers into
4924:
4475:
4097:
4033:
3928:
Controller Area Network (CAN) Schedulability Analysis: Refuted, Revisited and Revised
3564:
3260:
3030:
2382:
1636:
1525:
1221:
Each node is able to send and receive messages, but not simultaneously. A message or
1125:
977:
a wired-AND convention, which gives nodes with lower ID numbers priority on the bus.
881:
803:
796:
system manufacturers and various open-source digital model railroad control projects.
677:
658:
499:
491:
1215:
Transmitting: it converts the data stream from the CAN controller to CAN bus levels.
626:. Others are used for autonomous driving, advanced driver assistance system (ADAS),
5396:
5243:
5238:
5065:
4979:
4208:
2398:(NRZ) coding used with CAN. The stuffed data frames are destuffed by the receiver.
1003:
Mbit/s on CAN-FD), uses a linear bus terminated at each end with a 120 Ω resistor.
936:
701:
2089:
Second part of the (unique) identifier which also represents the message priority
1905:
Reserved bit. Must be dominant (0), but accepted as either dominant or recessive.
5364:
5022:
4338:
4188:
4168:
4043:
3824:
3461:
2907:
2056:
First part of the (unique) identifier which also represents the message priority
1157:
1124:
The CAN bus must be terminated. The termination resistors are needed to suppress
832:
534:
518:
was the first production vehicle to feature a CAN-based multiplex wiring system.
487:
463:
284:
205:
142:
3984:
3330: – High-speed multimedia network technology used in the automotive industry
1820:
The frame format is as follows: The bit values are described for CAN-LO signal.
4639:
4333:
4258:
4183:
4087:
4062:
3243:
3167:
3157:
2897:
1616:
1145:
757:
643:
639:
3927:
1241:, and other control devices. These devices are connected to the bus through a
1189:
Sensors, actuators and control devices can be connected to the host processor.
458:, the CAN bus protocol has since been adopted in various other contexts. This
5390:
4852:
4711:
4598:
4490:
4438:
4421:
4203:
4102:
4092:
4067:
4028:
2942:
1671:
942:
standard for connecting electronic control units (ECUs) also known as nodes (
694:
594:
565:
Passenger vehicles, trucks, buses (combustion vehicles and electric vehicles)
3318: – List of single collision domain electronic communication bus systems
3023:
As the CAN standard does not include common communication features, such as
466:
protocol ensures data integrity and prioritization through a process called
5150:
4939:
4919:
4810:
4448:
4391:
4243:
4148:
3643:"Evaluation of admissible CAN bus load with weak synchronization mechanism"
3247:
3144:
2391:
2377:
2227:
The two identifier fields (A & B) combine to form a 29-bit identifier.
2172:
Transmitter sends recessive (1) and any receiver can assert a dominant (0)
1962:
Transmitter sends recessive (1) and any receiver can assert a dominant (0)
1679:
1031:
V. The dominant common mode voltage (CANH+CANL)/2 must be within 1.5 to 3.5
831:
CAN FD (Flexible Data-Rate), standardized as ISO 11898-1, was developed by
786:
755:
aim to use CAN bus data to recreate real-life racing laps in the videogame
647:
455:
55:
3963:
3647:
Proc. of the 24th Int. Conf. on Real-Time Networks and Systems (RTNS 2017)
3540:
3218:
2012, version 2.2.0 in December 2015, and version 2.3.1 in February 2020.
1778:
Remote frame: a frame requesting the transmission of a specific identifier
5274:
5188:
5183:
4877:
4716:
4695:
4613:
4458:
4396:
4371:
4298:
4082:
4077:
3280:
customer in the price of the chip. Manufacturers of products with custom
3179:
1206:
1042:
980:
685:
681:
from the rain sensor to trigger the rear windscreen wiper when reversing.
669:
523:
450:
411:
4535:
2078:
Must be recessive (1) for extended frame format with 29-bit identifiers
958:
All nodes are connected to each other through a physically conventional
4999:
4984:
4847:
4765:
4569:
4268:
4057:
3183:
3072:
3056:
2946:
2911:
1755:
A CAN network can be configured to work with two different message (or
1607:
1035:
V of common, while the recessive common mode voltage must be within ±12
939:
850:
299:
27:
Standard for serial communication between devices without host computer
3943:
Controller Area Network (CAN) Schedulability Analysis with FIFO Queues
3452:
1784:
Overload frame: a frame to inject a delay between data or remote frame
1073:
5339:
5334:
5307:
5302:
5287:
5253:
5248:
5210:
5205:
5178:
5125:
5017:
4944:
4840:
4593:
4583:
4550:
4545:
4480:
4355:
4143:
4128:
4123:
3303:
3221:
Jörg Hellmich (ELFIN GmbH) is the chairman of this SIG and manages a
3113:
3107:
3089:
3082:
3078:
3068:
3062:
2919:
2915:
2817:{\displaystyle 8n+64+\left\lfloor {\frac {54+8n-1}{4}}\right\rfloor }
2666:{\displaystyle 8n+44+\left\lfloor {\frac {34+8n-1}{4}}\right\rfloor }
2504:{\displaystyle 8n+44+\left\lfloor {\frac {34+8n-1}{4}}\right\rfloor }
2270:
The following second field is the ERROR DELIMITER (8 recessive bits).
1701:
1685:
1667:
1612:
1603:
1238:
1132:
973:
3980:
Understanding and Using the Controller Area Network from UC Berkeley
1460:
m. Decreasing the bit rate allows longer network distances (e.g. 500
1027:
V to be recessive.) The dominant differential voltage is a nominal 2
622:(ECUs) for various subsystems. Usually the biggest processor is the
5359:
5220:
4989:
4974:
4969:
4964:
4929:
4862:
4603:
4540:
4273:
4133:
3835:
external links, and converting useful links where appropriate into
3484:"NISMO Increases GT6 GPS Data Logger Functionality and Track Count"
3327:
3264:
3214:
1894:
Must be dominant (0) for base frame format with 11-bit identifiers
1650:
1449:
745:
503:
153:
external links, and converting useful links where appropriate into
1504:
5324:
5115:
5090:
5060:
4994:
4954:
4934:
4835:
4736:
4690:
4674:
4500:
4318:
4263:
4198:
4153:
3309:
3297:
3052:
2890:
1854:
A (unique) identifier which also represents the message priority
1234:
734:
589:
511:
381:
3974:
2945:
signaling scheme. It is the most used physical layer in vehicle
2022:
The frame format is as follows on from here in the table below:
1865:
A bit of the opposite polarity to maintain synchronisation; see
1023:
V. (Receivers consider any differential voltage of less than 0.5
76:
5375:
5263:
5258:
5215:
5160:
5155:
5120:
5055:
5050:
4949:
4669:
4560:
4525:
4520:
4515:
4510:
4328:
4218:
4178:
4138:
3993:
3321:
3222:
3189:
3101:
3095:
2988:
specifies the CAN physical layer for transmission rates up to 1
2977:
specifies the CAN physical layer for transmission rates up to 1
1927:
Data to be transmitted (length in bytes dictated by DLC field)
1781:
Error frame: a frame transmitted by any node detecting an error
1739:
1735:
1660:
1469:
825:
631:
541:
475:
389:
4654:
4565:
2889:
specifies physical and data link layer (levels 1 and 2 of the
1233:
The devices that are connected by a CAN network are typically
1194:
CAN controller- often an integral part of the microcontroller
5329:
5085:
5070:
4664:
4555:
4495:
4433:
4406:
4288:
4238:
4163:
3267:, used during development of hardware that uses the CAN bus.
3163:
3098:- ISO 15765-2 (transport protocol for automotive diagnostics)
1006:
752:
738:
507:
1598:
CAN bus electrical sample topology with terminator resistors
5195:
5130:
4959:
4659:
4644:
4505:
4416:
4411:
4253:
3706:"CAN BUS MESSAGE FRAMES – Overload Frame, Interframe Space"
3285:
3201:
3173:
1641:
1168:
951:
705:
267:
2916:
ISO reference model for open systems interconnection (OSI)
1128:
as well as return the bus to its recessive or idle state.
654:
using traditional automotive electrics. Examples include:
5110:
4608:
4233:
4228:
3969:
1775:
Data frame: a frame containing node data for transmission
1763:
supports a length of 11 bits for the identifier, and the
709:
3519:"ISO11783 a Standardized Tractor – Implement Interface"
3399:"CAN in Automation - Mercedes W140: First car with CAN"
3332:
Pages displaying short descriptions of redirect targets
2936:
specifies the high-speed (transmission rates of up to 1
1209:
Defined by ISO 11898-2/3 Medium Access Unit standards
3134:- open standard for the leisure craft/vehicle industry
2137:
Data to be transmitted (length dictated by DLC field)
962:. The wires are a twisted pair with a 120 Ω (nominal)
494:. The protocol was officially released in 1986 at the
3768:"License Conditions CAN Protocol and CAN FD Protocol"
2855:
2831:
2763:
2733:
2704:
2680:
2612:
2582:
2527:
2450:
1508:
An example CAN bit timing with 10 time quanta per bit
506:. The first CAN controller chips were introduced by
272:
Unofficial logo of the CAN bus by CAN-in-Automation.
3018:
1560:and signaling, and fault confinement. It performs:
200:
may be too technical for most readers to understand
3948:Controller Area Network (CAN) Implementation Guide
2864:
2840:
2816:
2748:
2713:
2689:
2665:
2597:
2542:
2503:
2263:The error frame consists of two different fields:
3819:may not follow Knowledge's policies or guidelines
3661:"Understanding Microchip's CAN Module Bit Timing"
548:The CAN bus is one of five protocols used in the
137:may not follow Knowledge's policies or guidelines
5388:
3880:Bosch CAN Specification Version 2.0 (1991, 1997)
3698:
3454:Building Adapter for Vehicle On-board Diagnostic
2333:Detection of a dominant bit during intermission.
571:Electronic equipment for aviation and navigation
4351:Coherent Accelerator Processor Interface (CAPI)
1708:V and (simultaneously) switching CAN+ to the +5
1456:Mbit/s are possible at network lengths below 40
1230:(NRZ) format and may be received by all nodes.
3640:
2949:applications and industrial control networks.
1800:Extended frame format: with 29 identifier bits
1046:Low-speed fault-tolerant CAN bus. ISO 11898-3.
778:widely use CAN bus to communicate between the
531:International Organization for Standardization
4781:
4014:
3893:Bosch CAN-FD Specification Version 1.0 (2012)
2518:is the number of data bytes, a maximum of 8.
2414:which is stuffed as (stuffing bits in bold):
618:The modern automobile may have as many as 70
3959:Free e-learning module "Introduction to CAN"
3618:"CAN_XL, CAN XL, CAN, Bosch_CAN, IP-modules"
3306: – Telecommunications hybrid technology
3259:is an analysis tool, often a combination of
2881:
577:Industrial automation and mechanical control
3055:- CiA 301/302-2 and EN 50325-4 (industrial
1245:, a CAN controller, and a CAN transceiver.
64:Learn how and when to remove these messages
4788:
4774:
4021:
4007:
3746:"We Drove a Car While It Was Being Hacked"
3563:(1st ed.). Birmingham Mumbai: Packt.
3128:(UDS) - ISO 14229 (automotive diagnostics)
3036:
2368:been transmitter of the previous message.
1797:Base frame format: with 11 identifier bits
1226:transmitted serially onto the bus using a
815:
733:The CAN bus protocol has been used on the
266:
3855:Learn how and when to remove this message
3678:"ISO7637-3 diodes protection for CAN bus"
3349:
3347:
3116:(in-vehicle network for buses and trucks)
918:Learn how and when to remove this message
246:Learn how and when to remove this message
228:Learn how and when to remove this message
212:, without removing the technical details.
173:Learn how and when to remove this message
4795:
3876:- includes CAN and CAN-FD specifications
3502:"What is DiveCAN and why should I care?"
3122:(in-vehicle networks for passenger cars)
2381:
2251:RTR = 1 ; RECESSIVE in remote frame
2094:Remote transmission request (RTR) (blue)
2045:Denotes the start of frame transmission
2017:
1873:Remote transmission request (RTR) (blue)
1843:Denotes the start of frame transmission
1811:
1635:
1593:
1503:
1167:
1108:
1072:
1041:
1005:
979:
930:
101:of all important aspects of the article.
3176:- RVIA (used for recreational vehicles)
2441:The size of a base frame is bounded by
1858:
377:0.05, 0.125, 0.250, 0.500, 0.800 or 1.0
14:
5389:
3558:
3344:
3065:-3-3 (use of CANopen in rail vehicles)
1010:High-speed CAN signaling. ISO 11898-2.
697:in active collision avoidance systems.
97:Please consider expanding the lead to
4769:
4002:
3933:Pinouts for common CAN bus connectors
3756:from the original on 8 November 2019.
3641:Daigmorte, Hugo; Boyer, Marc (2017),
3598:
3596:
3582:
3580:
3554:
3552:
3535:
3533:
3531:
2357:
2299:There are two error counters in CAN:
2248:RTR = 0 ; DOMINANT in data frame
1257:The CAN specifications use the terms
1077:Low-speed CAN signaling. ISO 11898-3.
600:Ships and other maritime applications
399:32, 64 or 127 (depending on standard)
210:make it understandable to non-experts
3799:
3513:
3511:
3429:"Bosch Semiconductor CAN Literature"
3423:
3421:
3419:
3237:
2274:There are two types of error flags:
2126:Number of bytes of data (0–8 bytes)
1916:Number of bytes of data (0–8 bytes)
1807:
1747:analogous to a ‘wired AND’ network.
1248:
1183:, microprocessor, or host processor
864:
741:systems in their direct drive motor.
184:
117:
70:
29:
3622:Bosch semiconductors for Automotive
3147:- Stock (for the aviation industry)
3138:
510:in 1987, and shortly thereafter by
24:
3593:
3577:
3549:
3528:
3464:, obddiag.net, accessed 2009-09-09
3375:. 23 February 2016. Archived from
3223:wiki of the CANopen lift community
3153:- Kvaser (embedded control system)
3085:-3 (battery–charger communication)
1606:-1:2003) originally specified the
25:
5433:
3938:A webpage about CAN in automotive
3905:- cost-optimized subset of CAN-FD
3795:
3508:
3416:
3391:
3312: – Computer network protocol
3300: – Computer network protocol
3225:with content about CANopen lift.
2321:
2101:
1880:
1866:
1274:arbitration decision being made.
586:Medical instruments and equipment
45:This article has multiple issues.
5320:Factory Instrumentation Protocol
5201:Factory Instrumentation Protocol
4883:Factory Instrumentation Protocol
4752:
4751:
3804:
3019:CAN-based higher-layer protocols
2982:is no active bus communication.
1475:
984:High-speed CAN bus. ISO 11898-2.
869:
782:and other robot control modules.
712:models incorporate this feature.
189:
122:
75:
34:
3760:
3738:
3720:"Controller Area Network (CAN)"
3712:
3684:
3670:
3653:
3634:
3610:
3208:
3110:- IEC 61162-3 (marine industry)
2371:
2230:
2213:
2120:Data length code (DLC) (yellow)
2061:Substitute remote request (SRR)
2003:
1910:Data length code (DLC) (yellow)
1617:9-pin D-sub type male connector
891:This largely overlaps with the
860:
559:
496:Society of Automotive Engineers
89:may be too short to adequately
53:or discuss these issues on the
3911:- increase data rates up to 20
3722:. Vector Group. Archived from
3494:
3476:
3467:
3446:
3361:
2394:, and is necessary due to the
2258:
2119:
2072:Identifier extension bit (IDE)
1909:
1888:Identifier extension bit (IDE)
744:The CAN bus is also used as a
99:provide an accessible overview
13:
1:
4346:Intel Ultra Path Interconnect
3895:- increase data rates up to 8
3588:International standardization
3369:"Mercedes-Benz S-Class W 140"
3337:
1788:
1547:Message filtering (mailboxes)
1487:
613:
4324:Intel QuickPath Interconnect
4314:Direct Media Interface (DMI)
3274:
3182:- Pilz (used for industrial
3160:(automotive ECU calibration)
2303:Transmit error counter (TEC)
2093:
2082:
2049:
1872:
1847:
1717:asserting a dominant state.
1619:with the following pin-out:
855:tunneling of Ethernet frames
7:
5350:Unified Diagnostic Services
4821:CC-Link Industrial Networks
3966:from Excalibur Systems Inc.
3903:Bosch CAN-FD-Light (future)
3874:ISO 11898-1 Standard (2015)
3291:
3228:
3126:Unified Diagnostic Services
2928:medium access control (MAC)
2341:
2306:Receive error counter (REC)
2130:
1920:
1550:Message and status handling
1222:
892:
889:. The specific problem is:
810:
806:from various manufacturers.
311:; 41 years ago
10:
5438:
4868:Ethernet Global Data (EGD)
4309:Compute Express Link (CXL)
3964:ARINC-825 Tutorial (video)
2924:logical link control (LLC)
2375:
1771:CAN has four frame types:
1537:Application-specific logic
1286:
776:FIRST Robotics Competition
769:Applied Physics Laboratory
481:
5272:
5229:
5169:
5041:
5010:Industrial control system
5008:
4803:
4745:
4704:
4683:
4632:
4546:IEEE-1284 (parallel port)
4468:
4461:logical device interface)
4364:
4116:
4050:
3559:Nasser, Ahmad MK (2023).
2882:CAN lower-layer standards
2199:Inter-frame spacing (IFS)
1989:Inter-frame spacing (IFS)
1750:
1519:
1397:
1289:
1281:
1279:
843:
824:
431:
423:
418:
406:
403:
398:
395:
376:
373:
368:
365:
360:
357:
352:
347:
344:
339:
336:
331:
326:
323:
308:
305:
298:
295:
290:
280:
277:
265:
3692:"CAN bus ESD protection"
3198:(CubeSat Space Protocol)
3192:(aerospace and robotics)
2865:{\displaystyle \leq 157}
2714:{\displaystyle \leq 132}
1582:Transfer rate and timing
1163:
1141:terminating bias circuit
964:characteristic impedance
765:Johns Hopkins University
751:Manufacturers including
727:
620:electronic control units
603:Lighting control systems
540:In 2012, Bosch released
514:. Released in 1991, the
5231:Automatic meter reading
5171:Power-system automation
3649:, Grenoble, France: ACM
3037:Standardized approaches
2841:{\displaystyle \leq 29}
2690:{\displaystyle \leq 24}
2149:Cyclic redundancy check
1939:Cyclic redundancy check
1181:Central processing unit
816:CAN 2.0 (Classical CAN)
794:Digital Command Control
486:Development of the CAN
443:controller area network
261:Controller Area Network
18:Controller area network
4108:List of bus bandwidths
3166:- General Motors (for
3009:
2896:There are several CAN
2866:
2842:
2818:
2750:
2715:
2691:
2667:
2599:
2544:
2505:
2387:
2205:Must be recessive (1)
2194:Must be recessive (1)
2183:Must be recessive (1)
2161:Must be recessive (1)
2109:Reserved bits (r1, r0)
2067:Must be recessive (1)
1995:Must be recessive (1)
1984:Must be recessive (1)
1973:Must be recessive (1)
1951:Must be recessive (1)
1817:
1645:
1629:pin 7: CAN-High (CAN+)
1599:
1509:
1468:kbit/s). The improved
1290:The rest of the frame
1173:
1089:V), and CANL towards 0
1078:
1047:
1011:
985:
944:automotive electronics
851:IP (Internet Protocol)
568:Agricultural equipment
472:differential signaling
5417:Industrial automation
5345:Keyword Protocol 2000
3985:CAN Protocol Tutorial
3975:CAN Newsletter Online
3909:Bosch CAN-XL (future)
3316:List of network buses
2908:data link layer (DLL)
2900:and other standards:
2867:
2843:
2819:
2751:
2749:{\displaystyle 8n+64}
2716:
2692:
2668:
2600:
2598:{\displaystyle 8n+44}
2545:
2543:{\displaystyle 8n+44}
2506:
2385:
2018:Extended frame format
1815:
1724:V and CAN− tends to 0
1639:
1632:pin 9: CAN V+ (power)
1623:pin 2: CAN-Low (CAN−)
1597:
1507:
1398:Stopped Transmitting
1176:Each node requires a
1171:
1109:Electrical properties
1076:
1045:
1009:
983:
931:Physical organization
720:In recent years, the
580:Elevators, escalators
369:1 bit (bidirectional)
5412:Industrial computing
4797:Automation protocols
4551:IEEE-1394 (FireWire)
4289:PCI Extended (PCI-X)
3825:improve this article
3357:. CAN in Automation.
2853:
2829:
2761:
2731:
2702:
2678:
2610:
2580:
2525:
2448:
2410:11111000011110000...
2083:Identifier B (green)
2050:Identifier A (green)
1156:at each end of each
900:improve this article
885:to meet Knowledge's
665:Electric park brakes
636:antilock braking/ABS
550:on-board diagnostics
498:(SAE) conference in
282:Serial communication
143:improve this article
5043:Building automation
4893:FOUNDATION fieldbus
4392:Parallel ATA (PATA)
3837:footnote references
3708:. 18 November 2009.
3104:(military vehicles)
3049:(aviation industry)
2569:total frame length
1867:§ Bit stuffing
1626:pin 3: GND (ground)
1585:Information routing
995:(bit speeds up to 1
800:Shearwater Research
690:collision avoidance
624:engine control unit
609:Robotics/Automation
583:Building automation
574:Electric generators
490:started in 1983 at
262:
155:footnote references
4873:Ethernet Powerlink
4804:Process automation
4299:PCI Express (PCIe)
3490:. 25 October 2014.
3460:2018-05-14 at the
3403:can-newsletter.org
2862:
2838:
2814:
2746:
2711:
2687:
2663:
2595:
2540:
2501:
2396:non-return-to-zero
2388:
2358:Interframe spacing
2288:Passive Error Flag
2188:End-of-frame (EOF)
1978:End-of-frame (EOF)
1848:Identifier (green)
1818:
1765:CAN extended frame
1666:Noise immunity on
1646:
1600:
1570:Message validation
1526:abstraction layers
1510:
1228:non-return-to-zero
1174:
1105:V without damage.
1079:
1059:fault-tolerant CAN
1048:
1012:
986:
804:diving rebreathers
516:Mercedes-Benz W140
361:Transceiver driven
291:Production history
260:
5402:Computer networks
5384:
5383:
4763:
4762:
4749:
4476:Apple Desktop Bus
4453:PCI Express (via
4412:Serial ATA (SATA)
4098:Network on a chip
3865:
3864:
3857:
3570:978-1-80107-653-1
3373:mercedes-benz.com
3238:Development tools
3031:CAN in Automation
2875:
2874:
2808:
2657:
2495:
2278:Active Error Flag
2209:
2208:
1999:
1998:
1899:Reserved bit (r0)
1808:Base frame format
1564:Fault confinement
1532:Application layer
1443:
1442:
1249:Data transmission
928:
927:
920:
887:quality standards
878:This article may
702:windscreen wipers
646:, audio systems,
492:Robert Bosch GmbH
439:
438:
427:CAN High (Yellow)
256:
255:
248:
238:
237:
230:
183:
182:
175:
116:
115:
68:
16:(Redirected from
5429:
4980:SERCOS interface
4790:
4783:
4776:
4767:
4766:
4755:
4754:
4747:
4209:HP Precision Bus
4023:
4016:
4009:
4000:
3999:
3992:for CAN bus and
3914:
3898:
3882:- also known as
3860:
3853:
3849:
3846:
3840:
3808:
3807:
3800:
3789:
3788:
3786:
3785:
3779:
3773:. Archived from
3772:
3764:
3758:
3757:
3742:
3736:
3735:
3733:
3731:
3726:on 25 April 2016
3716:
3710:
3709:
3702:
3696:
3695:
3688:
3682:
3681:
3674:
3668:
3667:
3665:
3657:
3651:
3650:
3638:
3632:
3631:
3629:
3628:
3614:
3608:
3607:
3600:
3591:
3584:
3575:
3574:
3556:
3547:
3546:
3537:
3526:
3525:
3523:
3515:
3506:
3505:
3504:. 22 March 2016.
3498:
3492:
3491:
3488:www.gtplanet.net
3480:
3474:
3471:
3465:
3450:
3444:
3443:
3441:
3440:
3431:. Archived from
3425:
3414:
3413:
3411:
3409:
3395:
3389:
3388:
3386:
3384:
3365:
3359:
3358:
3351:
3333:
3258:
3257:
3139:Other approaches
3003:ISO 16845-2:2018
2997:ISO 16845-1:2016
2991:
2986:ISO 11898-6:2013
2980:
2975:ISO 11898-5:2007
2968:ISO 11898-4:2004
2963:
2960:kbit/s up to 125
2959:
2953:ISO 11898-3:2006
2939:
2934:ISO 11898-2:2016
2904:ISO 11898-1:2015
2887:ISO 11898 series
2871:
2869:
2868:
2863:
2847:
2845:
2844:
2839:
2823:
2821:
2820:
2815:
2813:
2809:
2804:
2784:
2755:
2753:
2752:
2747:
2720:
2718:
2717:
2712:
2696:
2694:
2693:
2688:
2672:
2670:
2669:
2664:
2662:
2658:
2653:
2633:
2604:
2602:
2601:
2596:
2554:
2553:
2549:
2547:
2546:
2541:
2517:
2510:
2508:
2507:
2502:
2500:
2496:
2491:
2471:
2221:
2217:
2134:0–64 (0-8 bytes)
2131:Data field (red)
2025:
2024:
2011:
2007:
1924:0–64 (0-8 bytes)
1921:Data field (red)
1823:
1822:
1745:
1727:
1723:
1711:
1707:
1696:
1691:
1677:
1644:connector (plug)
1467:
1463:
1459:
1455:
1277:
1276:
1143:
1142:
1104:
1100:
1096:
1092:
1088:
1084:
1069:
1064:
1038:
1034:
1030:
1026:
1022:
1017:
1002:
999:Mbit/s on CAN, 5
998:
923:
916:
912:
909:
903:
873:
872:
865:
464:message-oriented
387:
380:
319:
317:
312:
270:
263:
259:
251:
244:
233:
226:
222:
219:
213:
193:
192:
185:
178:
171:
167:
164:
158:
126:
125:
118:
111:
108:
102:
79:
71:
60:
38:
37:
30:
21:
5437:
5436:
5432:
5431:
5430:
5428:
5427:
5426:
5422:Bosch (company)
5387:
5386:
5385:
5380:
5268:
5225:
5165:
5037:
5004:
4799:
4794:
4764:
4759:
4750:
4741:
4700:
4679:
4628:
4541:IEEE-488 (GPIB)
4464:
4360:
4339:Infinity Fabric
4169:Europe Card Bus
4112:
4046:
4027:
3912:
3896:
3861:
3850:
3844:
3841:
3822:
3813:This article's
3809:
3805:
3798:
3793:
3792:
3783:
3781:
3777:
3770:
3766:
3765:
3761:
3752:. 29 May 2014.
3744:
3743:
3739:
3729:
3727:
3718:
3717:
3713:
3704:
3703:
3699:
3690:
3689:
3685:
3676:
3675:
3671:
3663:
3659:
3658:
3654:
3639:
3635:
3626:
3624:
3616:
3615:
3611:
3602:
3601:
3594:
3585:
3578:
3571:
3557:
3550:
3539:
3538:
3529:
3521:
3517:
3516:
3509:
3500:
3499:
3495:
3482:
3481:
3477:
3472:
3468:
3462:Wayback Machine
3451:
3447:
3438:
3436:
3427:
3426:
3417:
3407:
3405:
3397:
3396:
3392:
3382:
3380:
3379:on 10 June 2019
3367:
3366:
3362:
3353:
3352:
3345:
3340:
3331:
3294:
3277:
3256:CAN bus monitor
3255:
3254:
3244:Logic analyzers
3240:
3231:
3211:
3141:
3039:
3021:
3012:
2989:
2978:
2961:
2957:
2937:
2918:established in
2884:
2854:
2851:
2850:
2830:
2827:
2826:
2785:
2783:
2779:
2762:
2759:
2758:
2732:
2729:
2728:
2703:
2700:
2699:
2679:
2676:
2675:
2634:
2632:
2628:
2611:
2608:
2607:
2581:
2578:
2577:
2560:before stuffing
2526:
2523:
2522:
2515:
2472:
2470:
2466:
2449:
2446:
2445:
2380:
2374:
2360:
2344:
2324:
2261:
2242:
2233:
2225:
2224:
2218:
2214:
2020:
2015:
2014:
2008:
2004:
1810:
1791:
1753:
1743:
1725:
1721:
1709:
1705:
1694:
1689:
1675:
1579:Message framing
1573:Acknowledgement
1567:Error detection
1522:
1490:
1478:
1465:
1461:
1457:
1453:
1283:
1251:
1166:
1150:electrical bias
1140:
1139:
1111:
1102:
1098:
1097:V and CANL at 5
1094:
1090:
1086:
1082:
1067:
1062:
1036:
1032:
1028:
1024:
1020:
1015:
1000:
996:
933:
924:
913:
907:
904:
897:
874:
870:
863:
846:
829:
818:
813:
730:
659:Auto start/stop
616:
562:
535:data link layer
484:
460:broadcast-based
435:CAN Low (Green)
385:
378:
315:
313:
310:
273:
252:
241:
240:
239:
234:
223:
217:
214:
206:help improve it
203:
194:
190:
179:
168:
162:
159:
140:
131:This article's
127:
123:
112:
106:
103:
96:
84:This article's
80:
39:
35:
28:
23:
22:
15:
12:
11:
5:
5435:
5425:
5424:
5419:
5414:
5409:
5404:
5399:
5382:
5381:
5379:
5378:
5373:
5368:
5362:
5357:
5352:
5347:
5342:
5337:
5332:
5327:
5322:
5317:
5316:
5315:
5310:
5305:
5300:
5290:
5285:
5279:
5277:
5270:
5269:
5267:
5266:
5261:
5256:
5251:
5249:DLMS/IEC 62056
5246:
5241:
5235:
5233:
5227:
5226:
5224:
5223:
5218:
5213:
5208:
5203:
5198:
5193:
5192:
5191:
5186:
5175:
5173:
5167:
5166:
5164:
5163:
5158:
5153:
5148:
5143:
5138:
5133:
5128:
5123:
5118:
5113:
5108:
5103:
5098:
5093:
5088:
5083:
5078:
5073:
5068:
5063:
5058:
5053:
5047:
5045:
5039:
5038:
5036:
5035:
5030:
5025:
5020:
5014:
5012:
5006:
5005:
5003:
5002:
4997:
4992:
4987:
4982:
4977:
4972:
4967:
4962:
4957:
4952:
4947:
4942:
4937:
4932:
4927:
4922:
4917:
4912:
4907:
4906:
4905:
4900:
4890:
4885:
4880:
4875:
4870:
4865:
4860:
4855:
4850:
4845:
4844:
4843:
4838:
4828:
4823:
4818:
4813:
4807:
4805:
4801:
4800:
4793:
4792:
4785:
4778:
4770:
4761:
4760:
4746:
4743:
4742:
4740:
4739:
4734:
4729:
4719:
4714:
4708:
4706:
4702:
4701:
4699:
4698:
4693:
4687:
4685:
4681:
4680:
4678:
4677:
4672:
4667:
4662:
4657:
4652:
4650:Intel HD Audio
4647:
4642:
4640:ADAT Lightpipe
4636:
4634:
4630:
4629:
4627:
4626:
4621:
4616:
4611:
4606:
4601:
4596:
4591:
4586:
4581:
4563:
4558:
4553:
4548:
4543:
4538:
4533:
4528:
4523:
4518:
4513:
4508:
4503:
4498:
4493:
4488:
4483:
4478:
4472:
4470:
4466:
4465:
4463:
4462:
4451:
4446:
4441:
4436:
4431:
4430:
4429:
4424:
4414:
4409:
4404:
4399:
4394:
4389:
4384:
4379:
4374:
4368:
4366:
4362:
4361:
4359:
4358:
4353:
4348:
4343:
4342:
4341:
4334:HyperTransport
4331:
4326:
4321:
4316:
4311:
4306:
4301:
4296:
4291:
4286:
4281:
4276:
4271:
4266:
4261:
4256:
4251:
4246:
4241:
4236:
4231:
4226:
4221:
4216:
4211:
4206:
4201:
4196:
4191:
4186:
4181:
4176:
4171:
4166:
4161:
4156:
4151:
4146:
4141:
4136:
4131:
4126:
4120:
4118:
4114:
4113:
4111:
4110:
4105:
4100:
4095:
4090:
4088:Bus contention
4085:
4080:
4075:
4070:
4065:
4063:Front-side bus
4060:
4054:
4052:
4048:
4047:
4044:computer buses
4026:
4025:
4018:
4011:
4003:
3997:
3996:
3990:ESD protection
3987:
3982:
3977:
3972:
3970:Website of CiA
3967:
3961:
3956:
3950:
3945:
3940:
3935:
3930:
3924:
3923:
3919:
3918:
3917:
3916:
3906:
3900:
3890:
3877:
3869:
3868:Specifications
3863:
3862:
3817:external links
3812:
3810:
3803:
3797:
3796:External links
3794:
3791:
3790:
3759:
3737:
3711:
3697:
3683:
3669:
3652:
3633:
3609:
3592:
3576:
3569:
3548:
3527:
3507:
3493:
3475:
3466:
3445:
3415:
3390:
3360:
3342:
3341:
3339:
3336:
3335:
3334:
3325:
3319:
3313:
3307:
3301:
3293:
3290:
3276:
3273:
3239:
3236:
3230:
3227:
3210:
3207:
3206:
3205:
3199:
3193:
3187:
3177:
3171:
3168:General Motors
3161:
3154:
3148:
3140:
3137:
3136:
3135:
3129:
3123:
3117:
3111:
3105:
3099:
3093:
3086:
3081:- CiA 454 and
3076:
3066:
3060:
3050:
3038:
3035:
3020:
3017:
3011:
3008:
2920:ISO/IEC 7498-1
2906:specifies the
2898:physical layer
2883:
2880:
2873:
2872:
2861:
2858:
2848:
2837:
2834:
2824:
2812:
2807:
2803:
2800:
2797:
2794:
2791:
2788:
2782:
2778:
2775:
2772:
2769:
2766:
2756:
2745:
2742:
2739:
2736:
2726:
2725:extended frame
2722:
2721:
2710:
2707:
2697:
2686:
2683:
2673:
2661:
2656:
2652:
2649:
2646:
2643:
2640:
2637:
2631:
2627:
2624:
2621:
2618:
2615:
2605:
2594:
2591:
2588:
2585:
2575:
2571:
2570:
2567:
2564:
2563:after stuffing
2561:
2558:
2539:
2536:
2533:
2530:
2512:
2511:
2499:
2494:
2490:
2487:
2484:
2481:
2478:
2475:
2469:
2465:
2462:
2459:
2456:
2453:
2436:
2435:
2412:
2411:
2376:Main article:
2373:
2370:
2365:Start of frame
2359:
2356:
2343:
2340:
2335:
2334:
2331:
2323:
2322:Overload frame
2320:
2319:
2318:
2315:
2312:
2308:
2307:
2304:
2297:
2296:
2289:
2286:
2279:
2272:
2271:
2268:
2260:
2257:
2253:
2252:
2249:
2245:
2244:
2238:
2232:
2229:
2223:
2222:
2211:
2210:
2207:
2206:
2203:
2200:
2196:
2195:
2192:
2189:
2185:
2184:
2181:
2178:
2174:
2173:
2170:
2167:
2163:
2162:
2159:
2156:
2152:
2151:
2146:
2143:
2139:
2138:
2135:
2132:
2128:
2127:
2124:
2121:
2117:
2116:
2113:
2110:
2106:
2105:
2098:
2095:
2091:
2090:
2087:
2084:
2080:
2079:
2076:
2073:
2069:
2068:
2065:
2062:
2058:
2057:
2054:
2051:
2047:
2046:
2043:
2040:
2039:Start-of-frame
2036:
2035:
2032:
2029:
2019:
2016:
2013:
2012:
2001:
2000:
1997:
1996:
1993:
1990:
1986:
1985:
1982:
1979:
1975:
1974:
1971:
1968:
1964:
1963:
1960:
1957:
1953:
1952:
1949:
1946:
1942:
1941:
1936:
1933:
1929:
1928:
1925:
1922:
1918:
1917:
1914:
1911:
1907:
1906:
1903:
1900:
1896:
1895:
1892:
1889:
1885:
1884:
1877:
1874:
1870:
1869:
1863:
1860:
1856:
1855:
1852:
1849:
1845:
1844:
1841:
1838:
1837:Start-of-frame
1834:
1833:
1830:
1827:
1809:
1806:
1802:
1801:
1798:
1790:
1787:
1786:
1785:
1782:
1779:
1776:
1761:CAN base frame
1752:
1749:
1634:
1633:
1630:
1627:
1624:
1592:
1591:
1590:Physical layer
1587:
1586:
1583:
1580:
1577:
1574:
1571:
1568:
1565:
1557:
1556:
1555:Transfer layer
1552:
1551:
1548:
1544:
1543:
1539:
1538:
1534:
1533:
1521:
1518:
1489:
1486:
1477:
1474:
1441:
1440:
1437:
1434:
1431:
1428:
1425:
1422:
1419:
1416:
1413:
1410:
1407:
1404:
1400:
1399:
1396:
1393:
1390:
1387:
1384:
1381:
1378:
1375:
1372:
1368:
1367:
1364:
1361:
1358:
1355:
1352:
1349:
1346:
1343:
1340:
1337:
1334:
1331:
1327:
1326:
1323:
1320:
1317:
1314:
1311:
1308:
1305:
1302:
1299:
1296:
1292:
1291:
1288:
1285:
1280:
1250:
1247:
1243:host processor
1219:
1218:
1217:
1216:
1213:
1204:
1203:
1202:
1199:
1192:
1191:
1190:
1187:
1165:
1162:
1110:
1107:
1053:, also called
993:high-speed CAN
991:, also called
969:This bus uses
932:
929:
926:
925:
877:
875:
868:
862:
859:
845:
842:
828:
823:
817:
814:
812:
809:
808:
807:
797:
790:
785:The CueScript
783:
772:
762:
758:Gran Turismo 6
749:
742:
729:
726:
718:
717:
713:
698:
682:
678:Parking assist
675:
662:
644:power steering
640:cruise control
615:
612:
611:
610:
607:
604:
601:
598:
595:Model railways
592:
587:
584:
581:
578:
575:
572:
569:
566:
561:
558:
483:
480:
437:
436:
433:
429:
428:
425:
421:
420:
416:
415:
414:, Asynchronous
405:
401:
400:
397:
393:
392:
375:
371:
370:
367:
363:
362:
359:
355:
354:
350:
349:
346:
342:
341:
338:
334:
333:
329:
328:
325:
321:
320:
307:
303:
302:
297:
293:
292:
288:
287:
279:
275:
274:
271:
254:
253:
236:
235:
197:
195:
188:
181:
180:
135:external links
130:
128:
121:
114:
113:
93:the key points
83:
81:
74:
69:
43:
42:
40:
33:
26:
9:
6:
4:
3:
2:
5434:
5423:
5420:
5418:
5415:
5413:
5410:
5408:
5405:
5403:
5400:
5398:
5395:
5394:
5392:
5377:
5374:
5372:
5369:
5366:
5363:
5361:
5358:
5356:
5353:
5351:
5348:
5346:
5343:
5341:
5338:
5336:
5333:
5331:
5328:
5326:
5323:
5321:
5318:
5314:
5311:
5309:
5306:
5304:
5301:
5299:
5296:
5295:
5294:
5291:
5289:
5286:
5284:
5281:
5280:
5278:
5276:
5273:Automobile /
5271:
5265:
5262:
5260:
5257:
5255:
5252:
5250:
5247:
5245:
5242:
5240:
5237:
5236:
5234:
5232:
5228:
5222:
5219:
5217:
5214:
5212:
5209:
5207:
5204:
5202:
5199:
5197:
5194:
5190:
5187:
5185:
5182:
5181:
5180:
5177:
5176:
5174:
5172:
5168:
5162:
5159:
5157:
5154:
5152:
5149:
5147:
5144:
5142:
5139:
5137:
5134:
5132:
5129:
5127:
5124:
5122:
5119:
5117:
5114:
5112:
5109:
5107:
5104:
5102:
5099:
5097:
5094:
5092:
5089:
5087:
5084:
5082:
5079:
5077:
5074:
5072:
5069:
5067:
5064:
5062:
5059:
5057:
5054:
5052:
5049:
5048:
5046:
5044:
5040:
5034:
5031:
5029:
5026:
5024:
5021:
5019:
5016:
5015:
5013:
5011:
5007:
5001:
4998:
4996:
4993:
4991:
4988:
4986:
4983:
4981:
4978:
4976:
4973:
4971:
4968:
4966:
4963:
4961:
4958:
4956:
4953:
4951:
4948:
4946:
4943:
4941:
4938:
4936:
4933:
4931:
4928:
4926:
4923:
4921:
4920:Honeywell SDS
4918:
4916:
4915:HART Protocol
4913:
4911:
4908:
4904:
4901:
4899:
4896:
4895:
4894:
4891:
4889:
4886:
4884:
4881:
4879:
4876:
4874:
4871:
4869:
4866:
4864:
4861:
4859:
4856:
4854:
4851:
4849:
4846:
4842:
4839:
4837:
4834:
4833:
4832:
4829:
4827:
4824:
4822:
4819:
4817:
4814:
4812:
4809:
4808:
4806:
4802:
4798:
4791:
4786:
4784:
4779:
4777:
4772:
4771:
4768:
4758:
4744:
4738:
4735:
4733:
4730:
4727:
4723:
4720:
4718:
4715:
4713:
4712:Multidrop bus
4710:
4709:
4707:
4703:
4697:
4694:
4692:
4689:
4688:
4686:
4682:
4676:
4673:
4671:
4668:
4666:
4663:
4661:
4658:
4656:
4653:
4651:
4648:
4646:
4643:
4641:
4638:
4637:
4635:
4631:
4625:
4622:
4620:
4619:External PCIe
4617:
4615:
4612:
4610:
4607:
4605:
4602:
4600:
4599:Parallel SCSI
4597:
4595:
4592:
4590:
4587:
4585:
4582:
4579:
4575:
4571:
4567:
4564:
4562:
4559:
4557:
4554:
4552:
4549:
4547:
4544:
4542:
4539:
4537:
4534:
4532:
4529:
4527:
4524:
4522:
4519:
4517:
4514:
4512:
4509:
4507:
4504:
4502:
4499:
4497:
4494:
4492:
4491:Commodore bus
4489:
4487:
4484:
4482:
4479:
4477:
4474:
4473:
4471:
4467:
4460:
4456:
4452:
4450:
4447:
4445:
4442:
4440:
4439:Fibre Channel
4437:
4435:
4432:
4428:
4425:
4423:
4420:
4419:
4418:
4415:
4413:
4410:
4408:
4405:
4403:
4400:
4398:
4395:
4393:
4390:
4388:
4385:
4383:
4380:
4378:
4375:
4373:
4370:
4369:
4367:
4363:
4357:
4354:
4352:
4349:
4347:
4344:
4340:
4337:
4336:
4335:
4332:
4330:
4327:
4325:
4322:
4320:
4317:
4315:
4312:
4310:
4307:
4305:
4302:
4300:
4297:
4295:
4292:
4290:
4287:
4285:
4282:
4280:
4277:
4275:
4272:
4270:
4267:
4265:
4262:
4260:
4257:
4255:
4252:
4250:
4247:
4245:
4242:
4240:
4237:
4235:
4232:
4230:
4227:
4225:
4222:
4220:
4217:
4215:
4212:
4210:
4207:
4205:
4202:
4200:
4197:
4195:
4192:
4190:
4187:
4185:
4182:
4180:
4177:
4175:
4172:
4170:
4167:
4165:
4162:
4160:
4157:
4155:
4152:
4150:
4147:
4145:
4142:
4140:
4137:
4135:
4132:
4130:
4127:
4125:
4122:
4121:
4119:
4115:
4109:
4106:
4104:
4103:Plug and play
4101:
4099:
4096:
4094:
4093:Bus mastering
4091:
4089:
4086:
4084:
4081:
4079:
4076:
4074:
4071:
4069:
4068:Back-side bus
4066:
4064:
4061:
4059:
4056:
4055:
4053:
4049:
4045:
4042:
4038:
4036:
4031:
4024:
4019:
4017:
4012:
4010:
4005:
4004:
4001:
3995:
3991:
3988:
3986:
3983:
3981:
3978:
3976:
3973:
3971:
3968:
3965:
3962:
3960:
3957:
3954:
3951:
3949:
3946:
3944:
3941:
3939:
3936:
3934:
3931:
3929:
3926:
3925:
3921:
3920:
3910:
3907:
3904:
3901:
3894:
3891:
3889:
3885:
3884:Classical CAN
3881:
3878:
3875:
3872:
3871:
3870:
3867:
3866:
3859:
3856:
3848:
3838:
3834:
3833:inappropriate
3830:
3826:
3820:
3818:
3811:
3802:
3801:
3780:on 2016-03-16
3776:
3769:
3763:
3755:
3751:
3747:
3741:
3725:
3721:
3715:
3707:
3701:
3693:
3687:
3679:
3673:
3662:
3656:
3648:
3644:
3637:
3623:
3619:
3613:
3605:
3599:
3597:
3589:
3583:
3581:
3572:
3566:
3562:
3555:
3553:
3544:
3543:
3536:
3534:
3532:
3520:
3514:
3512:
3503:
3497:
3489:
3485:
3479:
3470:
3463:
3459:
3456:
3455:
3449:
3435:on 2017-05-23
3434:
3430:
3424:
3422:
3420:
3404:
3400:
3394:
3378:
3374:
3370:
3364:
3356:
3355:"CAN History"
3350:
3348:
3343:
3329:
3326:
3323:
3320:
3317:
3314:
3311:
3308:
3305:
3302:
3299:
3296:
3295:
3289:
3287:
3283:
3272:
3268:
3266:
3262:
3251:
3249:
3248:bus analyzers
3245:
3235:
3226:
3224:
3219:
3216:
3203:
3200:
3197:
3194:
3191:
3188:
3185:
3181:
3178:
3175:
3172:
3169:
3165:
3162:
3159:
3155:
3152:
3149:
3146:
3143:
3142:
3133:
3130:
3127:
3124:
3121:
3118:
3115:
3112:
3109:
3106:
3103:
3100:
3097:
3094:
3092:(agriculture)
3091:
3087:
3084:
3080:
3077:
3074:
3070:
3067:
3064:
3061:
3058:
3054:
3051:
3048:
3044:
3041:
3040:
3034:
3032:
3028:
3026:
3016:
3007:
3004:
3000:
2998:
2994:
2987:
2983:
2976:
2972:
2969:
2965:
2954:
2950:
2948:
2944:
2935:
2931:
2929:
2926:sublayer and
2925:
2921:
2917:
2913:
2910:and physical
2909:
2905:
2901:
2899:
2894:
2892:
2888:
2879:
2859:
2856:
2849:
2835:
2832:
2825:
2810:
2805:
2801:
2798:
2795:
2792:
2789:
2786:
2780:
2776:
2773:
2770:
2767:
2764:
2757:
2743:
2740:
2737:
2734:
2727:
2724:
2723:
2708:
2705:
2698:
2684:
2681:
2674:
2659:
2654:
2650:
2647:
2644:
2641:
2638:
2635:
2629:
2625:
2622:
2619:
2616:
2613:
2606:
2592:
2589:
2586:
2583:
2576:
2573:
2572:
2568:
2566:stuffing bits
2565:
2562:
2559:
2556:
2555:
2552:
2537:
2534:
2531:
2528:
2519:
2497:
2492:
2488:
2485:
2482:
2479:
2476:
2473:
2467:
2463:
2460:
2457:
2454:
2451:
2444:
2443:
2442:
2439:
2433:
2429:
2425:
2421:
2417:
2416:
2415:
2409:
2408:
2407:
2403:
2399:
2397:
2393:
2384:
2379:
2369:
2366:
2355:
2353:
2352:error passive
2348:
2339:
2332:
2329:
2328:
2327:
2316:
2313:
2310:
2309:
2305:
2302:
2301:
2300:
2294:
2293:error passive
2290:
2287:
2284:
2280:
2277:
2276:
2275:
2269:
2266:
2265:
2264:
2256:
2250:
2247:
2246:
2239:
2235:
2234:
2228:
2216:
2212:
2204:
2201:
2198:
2197:
2193:
2190:
2187:
2186:
2182:
2179:
2177:ACK delimiter
2176:
2175:
2171:
2168:
2165:
2164:
2160:
2157:
2155:CRC delimiter
2154:
2153:
2150:
2147:
2144:
2141:
2140:
2136:
2133:
2129:
2125:
2122:
2118:
2114:
2111:
2108:
2107:
2103:
2099:
2096:
2092:
2088:
2085:
2081:
2077:
2074:
2071:
2070:
2066:
2063:
2060:
2059:
2055:
2052:
2048:
2044:
2041:
2038:
2037:
2033:
2031:Length (bits)
2030:
2027:
2026:
2023:
2006:
2002:
1994:
1991:
1988:
1987:
1983:
1980:
1977:
1976:
1972:
1969:
1967:ACK delimiter
1966:
1965:
1961:
1958:
1955:
1954:
1950:
1947:
1945:CRC delimiter
1944:
1943:
1940:
1937:
1934:
1931:
1930:
1926:
1923:
1919:
1915:
1912:
1908:
1904:
1901:
1898:
1897:
1893:
1890:
1887:
1886:
1882:
1878:
1875:
1871:
1868:
1864:
1861:
1857:
1853:
1850:
1846:
1842:
1839:
1836:
1835:
1831:
1829:Length (bits)
1828:
1825:
1824:
1821:
1814:
1805:
1799:
1796:
1795:
1794:
1783:
1780:
1777:
1774:
1773:
1772:
1769:
1766:
1762:
1758:
1748:
1741:
1737:
1732:
1729:
1718:
1714:
1703:
1699:
1687:
1683:
1681:
1673:
1672:balanced line
1669:
1664:
1662:
1656:
1653:
1652:
1643:
1638:
1631:
1628:
1625:
1622:
1621:
1620:
1618:
1614:
1609:
1605:
1596:
1589:
1588:
1584:
1581:
1578:
1575:
1572:
1569:
1566:
1563:
1562:
1561:
1554:
1553:
1549:
1546:
1545:
1541:
1540:
1536:
1535:
1531:
1530:
1529:
1527:
1517:
1513:
1506:
1502:
1498:
1494:
1485:
1481:
1476:ID allocation
1473:
1471:
1451:
1447:
1438:
1435:
1432:
1429:
1426:
1423:
1420:
1417:
1414:
1411:
1408:
1405:
1402:
1401:
1394:
1391:
1388:
1385:
1382:
1379:
1376:
1373:
1370:
1369:
1365:
1362:
1359:
1356:
1353:
1350:
1347:
1344:
1341:
1338:
1335:
1332:
1329:
1328:
1324:
1321:
1318:
1315:
1312:
1309:
1306:
1303:
1300:
1297:
1294:
1293:
1278:
1275:
1271:
1267:
1264:
1260:
1255:
1246:
1244:
1240:
1236:
1231:
1229:
1224:
1214:
1211:
1210:
1208:
1205:
1200:
1196:
1195:
1193:
1188:
1185:
1184:
1182:
1179:
1178:
1177:
1170:
1161:
1159:
1155:
1151:
1147:
1136:
1134:
1129:
1127:
1122:
1119:
1115:
1106:
1075:
1071:
1060:
1056:
1052:
1044:
1040:
1008:
1004:
994:
990:
982:
978:
975:
972:
967:
965:
961:
956:
953:
949:
945:
941:
938:
922:
919:
911:
901:
896:
894:
888:
884:
883:
876:
867:
866:
858:
856:
852:
841:
837:
834:
827:
822:
805:
801:
798:
795:
791:
788:
784:
781:
777:
774:Teams in the
773:
770:
766:
763:
760:
759:
754:
750:
747:
743:
740:
736:
732:
731:
725:
723:
714:
711:
707:
703:
699:
696:
695:brake by wire
691:
687:
683:
679:
676:
672:
671:
666:
663:
660:
657:
656:
655:
653:
649:
648:power windows
645:
641:
637:
633:
629:
625:
621:
608:
605:
602:
599:
596:
593:
591:
588:
585:
582:
579:
576:
573:
570:
567:
564:
563:
557:
555:
551:
546:
543:
538:
536:
532:
529:In 1993, the
527:
525:
519:
517:
513:
509:
505:
501:
497:
493:
489:
479:
477:
473:
469:
465:
461:
457:
452:
448:
444:
434:
430:
426:
422:
417:
413:
409:
402:
394:
391:
383:
372:
364:
356:
351:
343:
335:
330:
322:
304:
301:
294:
289:
286:
283:
276:
269:
264:
258:
250:
247:
232:
229:
221:
211:
207:
201:
198:This article
196:
187:
186:
177:
174:
166:
156:
152:
151:inappropriate
148:
144:
138:
136:
129:
120:
119:
110:
107:November 2020
100:
94:
92:
87:
82:
78:
73:
72:
67:
65:
58:
57:
52:
51:
46:
41:
32:
31:
19:
5407:Serial buses
5292:
4940:MECHATROLINK
4830:
4244:TURBOchannel
4034:
3887:
3883:
3851:
3845:January 2024
3842:
3827:by removing
3814:
3782:. Retrieved
3775:the original
3762:
3750:www.vice.com
3749:
3740:
3728:. Retrieved
3724:the original
3714:
3700:
3686:
3672:
3655:
3646:
3636:
3625:. Retrieved
3621:
3612:
3560:
3541:
3496:
3487:
3478:
3469:
3453:
3448:
3437:. Retrieved
3433:the original
3406:. Retrieved
3402:
3393:
3381:. Retrieved
3377:the original
3372:
3363:
3278:
3269:
3252:
3241:
3232:
3220:
3212:
3209:CANopen Lift
3145:CANaerospace
3071:(industrial
3029:
3025:flow control
3022:
3013:
3002:
3001:
2996:
2995:
2985:
2984:
2974:
2973:
2967:
2966:
2952:
2951:
2933:
2932:
2903:
2902:
2895:
2886:
2885:
2876:
2520:
2513:
2440:
2437:
2431:
2427:
2423:
2419:
2413:
2404:
2400:
2392:bit stuffing
2389:
2378:Bit stuffing
2372:Bit stuffing
2364:
2361:
2351:
2349:
2345:
2336:
2325:
2298:
2292:
2283:error active
2282:
2273:
2262:
2254:
2231:Remote frame
2226:
2215:
2102:Remote Frame
2021:
2005:
1881:Remote Frame
1819:
1803:
1792:
1770:
1764:
1760:
1756:
1754:
1733:
1730:
1719:
1715:
1700:
1684:
1680:twisted pair
1665:
1657:
1649:
1647:
1601:
1558:
1542:Object layer
1523:
1514:
1511:
1499:
1495:
1491:
1482:
1479:
1448:
1444:
1272:
1268:
1262:
1258:
1256:
1252:
1232:
1220:
1175:
1172:CAN bus node
1137:
1130:
1123:
1120:
1116:
1112:
1080:
1058:
1054:
1050:
1049:
1013:
992:
988:
987:
971:differential
968:
960:two-wire bus
959:
957:
937:multi-master
934:
914:
905:
898:Please help
890:
879:
861:Architecture
847:
838:
830:
819:
787:teleprompter
756:
719:
668:
651:
628:transmission
617:
560:Applications
547:
539:
528:
524:white papers
520:
485:
456:multiplexing
446:
442:
440:
396:Max. devices
345:Max. voltage
340:Differential
257:
242:
224:
218:January 2024
215:
199:
169:
163:January 2024
160:
145:by removing
132:
104:
88:
86:lead section
61:
54:
48:
47:Please help
44:
5367:(SAE J2716)
5239:ANSI C12.18
5189:IEC 60870-6
5184:IEC 60870-5
4878:EtherNet/IP
4717:CoreConnect
4696:ExpressCard
4624:Thunderbolt
4614:Camera Link
4397:Bus and Tag
4083:Address bus
4078:Control bus
4073:Daisy chain
3888:CAN-Classic
3180:SafetyBUS p
3151:CAN Kingdom
2259:Error frame
1576:Arbitration
1207:Transceiver
1198:interrupt).
1158:bus segment
1154:termination
1126:reflections
1114:wire used.
1051:ISO 11898-3
1039:of common.
989:ISO 11898-2
908:August 2018
902:if you can.
686:lane assist
642:, electric
606:3D printers
468:arbitration
451:vehicle bus
412:half-duplex
388:Mbit/s for
384:, up to 5.0
358:Data signal
5391:Categories
5000:TTEthernet
4985:SERCOS III
4848:ControlNet
4570:ACCESS.bus
4469:Peripheral
4269:InfiniBand
4264:HP GSC bus
4058:System bus
3784:2016-03-15
3627:2024-05-15
3439:2017-05-31
3408:27 October
3383:27 October
3338:References
3184:automation
3132:LeisureCAN
3073:automation
3057:automation
2947:powertrain
2930:sublayer.
2912:signalling
2574:base frame
2557:frame type
2028:Field name
1826:Field name
1789:Data frame
1608:link layer
1488:Bit timing
1061:(up to 125
940:serial bus
652:hard wired
614:Automotive
597:/railroads
332:Electrical
300:Bosch GmbH
50:improve it
5308:NMEA 2000
5303:SAE J1939
5298:ARINC 825
5288:ARINC 429
5244:IEC 61107
5211:IEC 62351
5206:IEC 61850
5179:IEC 60870
5126:OpenTherm
5018:MTConnect
4945:MelsecNet
4858:DirectNET
4841:DeviceNet
4531:Lightning
4481:Atari SIO
4356:SpaceWire
4189:Zorro III
4129:S-100 bus
4124:SS-50 bus
4117:Standards
4037:standards
4030:Technical
3955:(ZIPfile)
3829:excessive
3304:Etherloop
3275:Licensing
3120:SAE J2284
3114:SAE J1939
3108:NMEA 2000
3090:ISO 11783
3088:ISOBUS -
3083:IEC 61851
3079:EnergyBus
3069:DeviceNet
3063:IEC 61375
3047:ARINC 825
3043:ARINC 812
2857:≤
2833:≤
2799:−
2706:≤
2682:≤
2648:−
2486:−
2104:, below)
1883:, below)
1859:Stuff bit
1702:ISO 11898
1686:ISO 11898
1668:ISO 11898
1613:ISO 11898
1604:ISO 11898
1602:CAN bus (
1450:Bit rates
1403:CAN data
1263:recessive
1261:bits and
1239:actuators
1144:provides
1055:low-speed
974:wired-AND
935:CAN is a
670:hill hold
147:excessive
91:summarize
56:talk page
5221:PROFIBUS
4990:Sinec H1
4975:RAPIEnet
4970:PROFINET
4965:PROFIBUS
4930:INTERBUS
4925:HostLink
4863:EtherCAT
4757:Category
4732:Wishbone
4705:Embedded
4684:Portable
4604:Profibus
4536:DMX512-A
4422:Parallel
4274:Ethernet
4184:Zorro II
4134:Multibus
4035:de facto
3754:Archived
3458:Archived
3328:MOST bus
3292:See also
3265:software
3261:hardware
3229:Security
2964:kbit/s.
2943:balanced
2811:⌋
2781:⌊
2660:⌋
2630:⌊
2498:⌋
2468:⌊
2342:ACK slot
2166:ACK slot
2034:Purpose
1956:ACK slot
1832:Purpose
1663:(see ).
1651:de facto
1464:m at 125
1371:Node 16
1330:Node 15
1287:ID bits
1259:dominant
1133:ISO11783
1085:V or 3.3
895:section.
880:require
853:and the
811:Versions
746:fieldbus
716:display.
590:Pedelecs
504:Michigan
404:Protocol
324:External
306:Designed
296:Designer
5397:CAN bus
5325:FlexRay
5293:CAN bus
5275:Vehicle
5116:LonTalk
5091:EnOcean
5061:BatiBUS
5028:OPC HDA
4995:SynqNet
4955:Optomux
4935:IO-Link
4910:GE SRTP
4836:CANopen
4831:CAN bus
4737:SLIMbus
4691:PC Card
4675:TOSLINK
4365:Storage
4319:RapidIO
4199:FASTBUS
4154:STD Bus
4051:General
3823:Please
3815:use of
3310:FlexRay
3298:CANopen
3053:CANopen
2891:ISO/OSI
2354:state.
1640:A male
1452:up to 1
1235:sensors
882:cleanup
780:roboRIO
735:Shimano
722:LIN bus
632:airbags
512:Philips
500:Detroit
482:History
449:) is a
374:Bitrate
314: (
204:Please
141:Please
133:use of
5376:Cyphal
5264:Zigbee
5259:Modbus
5216:Modbus
5161:Zigbee
5156:Z-Wave
5121:Modbus
5056:BACnet
5051:1-Wire
5033:OPC UA
5023:OPC DA
4950:Modbus
4670:S/PDIF
4561:1-Wire
4526:RS-485
4521:RS-423
4516:RS-422
4511:RS-232
4372:ST-506
4329:NVLink
4179:STEbus
4139:Unibus
3994:CAN FD
3915:Mbit/s
3913:
3899:Mbit/s
3897:
3730:25 Sep
3606:. ISO.
3567:
3322:Modbus
3190:UAVCAN
3102:MilCAN
3096:ISO-TP
2990:
2979:
2962:
2958:
2938:
2521:Since
2514:where
2237:frame.
2220:bytes.
2010:bytes.
1751:Frames
1744:
1740:RS-485
1736:RS-422
1726:
1722:
1710:
1706:
1695:
1690:
1676:
1661:CAN FD
1520:Layers
1470:CAN FD
1466:
1462:
1458:
1454:
1282:Start
1103:
1099:
1095:
1091:
1087:
1083:
1068:
1063:
1037:
1033:
1029:
1025:
1021:
1016:
1001:
997:
950:, via
893:Layers
844:CAN XL
826:CAN FD
667:: The
542:CAN FD
476:CAN FD
419:Pinout
408:Serial
390:CAN FD
386:
382:Mbit/s
379:
348:16V DC
337:Signal
5340:J1708
5335:J1587
5330:IEBus
5254:M-Bus
5086:DyNet
5071:CEBus
5066:C-Bus
4665:McASP
4633:Audio
4578:SMBus
4574:PMBus
4556:UNI/O
4496:HP-IL
4449:SATAe
4434:ESCON
4407:HIPPI
4239:NuBus
4194:CAMAC
4164:Q-Bus
4159:SMBus
4144:VAXBI
4041:wired
3922:Other
3778:(PDF)
3771:(PDF)
3664:(PDF)
3586:CiA:
3522:(PDF)
3286:FPGAs
3282:ASICs
3164:GMLAN
2418:11111
2243:I.e.,
2241:one).
1757:frame
1648:This
1223:Frame
1164:Nodes
1146:power
833:Bosch
753:NISMO
739:BionX
728:Other
684:Auto
508:Intel
432:CAN-L
424:CAN-H
366:Width
5365:SENT
5360:MOST
5283:AFDX
5196:DNP3
5136:VSCP
5131:oBIX
5076:DALI
4960:PieP
4888:FINS
4853:DF-1
4816:BSAP
4811:AS-i
4722:AMBA
4660:MADI
4645:AES3
4506:MIDI
4459:NVMe
4455:AHCI
4417:SCSI
4402:DSSI
4377:ESDI
4254:SBus
4214:EISA
4149:MBus
4039:for
4032:and
3886:and
3732:2013
3565:ISBN
3410:2017
3385:2017
3263:and
3246:and
3215:lift
3202:VSCP
3174:RV-C
3156:CCP/
2430:0000
2426:1111
2422:0000
1738:/3,
1642:DE-9
1284:bit
1152:and
952:FPGA
708:and
706:Audi
554:EOBD
353:Data
316:1983
309:1983
278:Type
5371:VAN
5355:LIN
5313:FMS
5151:xPL
5146:xAP
5141:X10
5111:KNX
5106:FIP
5101:EIB
5096:EHS
5081:DSI
4903:HSE
4826:CIP
4726:AXI
4655:I²S
4609:USB
4594:D²B
4589:SPI
4584:I3C
4566:I²C
4501:HIL
4486:DCB
4457:or
4444:SSA
4427:SAS
4387:SMD
4382:IPI
4304:AGP
4294:PXI
4284:PCI
4279:UPA
4259:VLB
4249:MCA
4234:VPX
4229:VXS
4224:VXI
4219:VME
4204:LPC
4174:ISA
3831:or
3284:or
3196:CSP
3158:XCP
3045:or
3010:DBC
2860:157
2709:132
2434:...
2142:CRC
1932:CRC
1728:V.
1295:10
1070:Ω.
1066:100
1057:or
948:PLD
767:'s
710:BMW
488:bus
447:CAN
285:bus
208:to
149:or
5393::
4898:H1
4576:,
4572:,
3748:.
3645:,
3620:.
3595:^
3579:^
3551:^
3530:^
3510:^
3486:.
3418:^
3401:.
3371:.
3346:^
3253:A
2956:40
2836:29
2787:54
2774:64
2744:64
2685:24
2636:34
2623:44
2593:44
2538:44
2474:34
2461:44
2145:15
2086:18
2053:11
1935:15
1851:11
1528::
1439:1
1366:1
1325:0
1322:1
1319:2
1316:3
1313:4
1310:5
1307:6
1304:7
1301:8
1298:9
1237:,
1138:A
1135:.
966:.
857:.
638:,
634:,
630:,
526:.
502:,
462:,
441:A
410:,
327:No
59:.
4789:e
4782:t
4775:v
4728:)
4724:(
4580:)
4568:(
4022:e
4015:t
4008:v
3858:)
3852:(
3847:)
3843:(
3839:.
3821:.
3787:.
3734:.
3694:.
3680:.
3666:.
3630:.
3590:.
3573:.
3545:.
3524:.
3442:.
3412:.
3387:.
3186:)
3170:)
3075:)
3059:)
2806:4
2802:1
2796:n
2793:8
2790:+
2777:+
2771:+
2768:n
2765:8
2741:+
2738:n
2735:8
2655:4
2651:1
2645:n
2642:8
2639:+
2626:+
2620:+
2617:n
2614:8
2590:+
2587:n
2584:8
2535:+
2532:n
2529:8
2516:n
2493:4
2489:1
2483:n
2480:8
2477:+
2464:+
2458:+
2455:n
2452:8
2432:1
2428:0
2424:1
2420:0
2295:.
2285:.
2202:3
2191:7
2180:1
2169:1
2158:1
2123:4
2112:2
2097:1
2075:1
2064:1
2042:1
1992:3
1981:7
1970:1
1959:1
1948:1
1913:4
1902:1
1891:1
1876:1
1862:1
1840:1
1436:1
1433:1
1430:1
1427:0
1424:0
1421:0
1418:0
1415:0
1412:0
1409:0
1406:0
1395:1
1392:0
1389:0
1386:0
1383:0
1380:0
1377:0
1374:0
1363:1
1360:1
1357:1
1354:0
1351:0
1348:0
1345:0
1342:0
1339:0
1336:0
1333:0
1019:0
921:)
915:(
910:)
906:(
688:/
445:(
318:)
249:)
243:(
231:)
225:(
220:)
216:(
202:.
176:)
170:(
165:)
161:(
157:.
139:.
109:)
105:(
95:.
66:)
62:(
20:)
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