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Communication buses

CAN / CAN-FD

Controller Area Network / Flexible Data-rate
Robust 2-wire bus used in cars, robotics. CAN-FD is the faster modern version.

How it looks

Drawing: this is not on CORE3588, so it is drawn
CANHCANLnode 1node 2node 3node 4120 ohm120 ohm
A CAN bus: one twisted pair, many nodes, a 120 ohm resistor at each end. Not on CORE3588.

How it works

ONE PAIR, MANY CONTROLLERSCANHCANLnode 1node 2node 3node 4120 ohm120 ohmmotor drivers, sensors, a main controller, on one paireveryone listens; any node may start a messagetwo start at once: the more important ID wins, the other waitsCAN-FD: same idea, faster data phase, bigger messages

Where it fits

Like RS-485, it is a differential pair that shrugs off noise over metres of cable; EtherCAT is the faster industrial cousin.

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