Bit Stuffing
In CAN frames, a bit of opposite polarity is inserted after five consecutive bits of the same polarity. This practice is called bit stuffing, and is due to the non-return to zero (NRZ) coding adopted. The stuffed data frames are destuffed by the receiver. Since bit stuffing is used, six consecutive bits of the same type (111111 or 000000) are considered an error.
Bit stuffing implies that sent data frames could be larger than one would expect by simply enumerating the bits shown in the tables above.
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