Transmission of different messages with the SAME ID on a CAN bus

Question

CAN arbitration is done with IDs, and any node on the bus can transmit with any ID (ideally it should not, but a nasty node can).

What if two different nodes connected on the same CAN bus transmit messages with the same IDs but different data bytes?

My thinking: It will generate garbage on the bus. Whoever has the dominant bits those only will get transmitted.

Answer 1

Section 6.1 of the CAN spec:

BIT ERROR: A unit that is sending a bit on the bus also monitors the bus. A BIT ERROR has to be detected at that bit time, when the bit value that is monitored is different from the bit value that is sent. An exception is the sending of a ’recessive’ bit during the stuffed bit stream of the ARBITRATION FIELD or during the ACK SLOT.

So, the node which first transmits a '1' when the other is transmitting a '0' will note a Bit Error and then signal an error as normal - by transmitting an error-flag (see Section 3.1.3) , as described formally in Section 6.2.

Informally, if that node is error-active (which should be the usual case) it will transmit an error flag of 6 dominant bits, which all other nodes will also detect (as a stuff error). This has the effect of destroying that message completely:

• no-one will receive it
• none of the transmitters will think they have successfully transmitted it.

Each transmitter will then attempt to retransmit - depending on the precise timing of the retransmissions, one may start sufficiently before the other the gain control of the bus. Otherwise, the same sequence may happen again. (Or another higher-priority message may put them both off for a while!)

Answer 2

If the messages data field is different, you'll (hopefully!) get an error frame on the bus due to wrong CRC.