... | @@ -58,6 +58,10 @@ During the transmission of a message, a maximum of five consecutive bits may hav |
... | @@ -58,6 +58,10 @@ During the transmission of a message, a maximum of five consecutive bits may hav |
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The receiver also checks for number of bits of same polarity and removes the stuff bit from the bit stream. this is called de-stuffing.
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The receiver also checks for number of bits of same polarity and removes the stuff bit from the bit stream. this is called de-stuffing.
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![Bit stuffing](uploads/24354355fce23c5f0bc79e6f97769234/Untitled_Diagram.png)
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![Bit stuffing](uploads/24354355fce23c5f0bc79e6f97769234/Untitled_Diagram.png)
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This technique is introduced in CAN because of Non Return to Zero(NRZ) coding scheme is adopted. It is used for an entire CAN data or remote frame with the exception of fixed form bit fields for the CRC delimiter, ACK field, and end of frame. CAN error or overload frames are also fixed form.
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Any node receiving a message that breaks the bit stuffing rules (more than five consecutive recessive or dominant bits in a sequence that should be bit stuffed) will detect this as a receive error and take action dependant on the node state (for example, transmit an active or passive error frame).
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<BR/>
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<BR/>
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## Frame
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## Frame
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