Embedded Systems: An Integrated Approach by Pearson

194 EMBEDDED SYSTEMS

and indicates how many bytes of data follow in the data fi eld.  e data fi eld can be zero

to eight bytes.  e data fi eld is followed by the cyclic redundancy checksum (CRC) fi eld,

which enables the receiver to check if the received bit sequence was corrupted.  e two-

bit acknowledgment (ACK) fi eld is used by the transmitter to receive an acknowledg-

ment of a valid frame from any receiver.  e message frame is terminated by a seven-bit

end-of-frame (EOF). For CAN 2.0 B, the identifi er is 29 bits long, instead of the eleven

bits of CAN1.0.

You will need to know more about the diff erent types of frames, if you are implement-

ing a CAN-based application. But in that case also, you will be using a CAN controller

IC (or a C ...