MDK-ARM Keil, MDK-ARM Datasheet - Page 145

• Manufacturer Part Number: MDK-ARM
• Description: KIT REALVIEW MCU DEVELOPMENT
• Manufacturer: Keil
• Type: Compiler and IDEr

Specifications of MDK-ARM

• For Use With/related Products: ARM MCUs
• Lead Free Status / RoHS Status: Lead free / RoHS Compliant

Getting Started: Building Applications with RL-ARM
145
As previously mentioned, the
CAN message identifier can be
up to 29 bits long. There are two
standards of CAN protocol, the
only difference being the length
of the message identifier.
It is possible to mix the two
protocol standards on the same
bus, but you must not send a 29-
bit message to a 2.0A device.
CAN Bus Arbitration
If a message is scheduled to be transmitted on to the bus and the bus is idle, it
will be transmitted and may be picked up by any interested node. If a message is
scheduled and the bus is active, it will have to wait until the bus is idle, before it
can be transmitted. If several messages are scheduled while the bus is active,
they will start transmission simultaneously once the bus becomes idle, being
synchronized by the start of frame bit. When this happens, the CAN bus
arbitration will take place to determine which message wins the bus and is
transmitted.