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CAN Bus Message Frame Structure

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Basic Components: CAN frames consist of SOF, arbitration, control, data, CRC, ACK, EOF, and IFS fields
Data frames can contain up to 8 bytes of data, remote frames are data frames without data
Frame length ranges from 47 to 111 bits at 1 MBit/sec baud rate
Arbitration and Identification: Arbitration field contains 11/29-bit message ID and RTR bit
11-bit identifier allows 2048 messages, 29-bit identifier allows 536+ million
IDE bit indicates standard (0) or extended (1) message format
Error Detection: CRC field performs frame checksum verification
Acknowledgement field confirms successful checksum checks
Error frames start with at least 6 consecutive dominant bits
Frame Termination: Each frame ends with 7-bit EOF and 3-bit IFS
Interframe space allows only overload signaling
Error frames start with dominant bits, ACK delimiter always recessive