Discussion
Put the phases of a CAN frame in order.
1. Data field 2. Arbitration on the identifier 3. Acknowledgement slot 4. Cyclic redundancy check
Answer: D
Correct answer: 2, 1, 4, 3
Arbitration comes first, on the identifier, so the bus is resolved before any data is sent - and because it is non-destructive the winning frame proceeds uninterrupted. The data field follows, then the CRC covering everything transmitted so far, and finally the acknowledgement slot in which any node that received the frame correctly asserts a dominant bit. The acknowledgement must come after the CRC, since it certifies it.
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