3. Introduction to CAN Protocol

3.1 Basic Operation

(a) CAN Protocol Parameter

(1) CAN Revision : 2.0A, 2.0B (Default 2.0B)

(2) Baudrate : 125[kbps], 250[kbps], 500[kbps], 1[Mbps] (Default 500[kbps])

(3) Byte Order : BIG ENDIAN

(4) CAN Msg : OP CMD Msg0, RESP Msg0, RESP Msg1, Memory Access CMD Msg, Memory Access RESP Msg

(b) CAN Operation

(1) CAN messages are classified into Operation Mode and User Configuration Mode.

(2) In Operation Mode, OP CMD Msg and OP RESP Msg1, 2 are transmitted and received using the timing and message sequence shown in Fig 2. (e.g., Baudrate 500 kbps).

(3) The reception of OP RESP Msg1 and Msg2 can be determined by the bit settings of OP CMD Msg0.

Figure 2. CAN Msg Sequence - Operation Mode

(4) In User Configuration Mode, Memory Access CMD Msg and Memory Access RESP Msg are used to configure control parameters.

(5) The format/configuration/timming etc for each CAN message are provided in Sections 3.2 and 3.3.

3.2 CAN Message - Operation Mode

A. OP CMD Msg0 Format

[1] Single Point Of Failure, FAA AC23.1309 -1E

B. RESP Msg0 Format

C. RESP Msg1 Format

3.3 CAN Message - User Configuration Mode

A. Memory Access CMD Msg Format

B. Memory Access RESP Msg Format