Standard format
- SOF - Start of Frame,:1 bit
- Message ID: 11 bit
- bit 11 and 4 ard masked. 11 - 2 = 9 bit remaining
- 2^9 = 512 different CAN frames in a single can network
- RTR - Remote Transmit Request: 1 bit
- 1: Remote frame
- 0: Data frame
- Reserved bit: R1 and R0, 2 bits total
- DLC - Data Length Code: 4 bit
- Data: 0 to 8 bytes
- Checksum: 15 bit
- BCH method
- CD - checksum delimiter: 1bit
- ACK: 1 bit
- AD - Ack delimiter: 1 bit
- EOF - End of Frame: 7 bits
- IFS - Interframe Space