Synchronous communication means communication happening on bus is in sync with other Nodes .It can be either clock based communication or Master Slave based communication. In case of clock based ,one global clock will be available and ticking of that clock will synchronise all Nodes .While in case of Master based communication ,Master takes care of synchronisation for the bus.
Now coming to the CAN,CAN is multi Master linear bus communication. It means every Node can initiate and transmit message .There is no control over communication and can transfer at any time. To make communication easy and collision free,Arbitration logic is implemented.
As per above explanation,we can clearly say that CAN is asynchronous communication.
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