Message priority inversion on a CAN bus
A CAN bus that has not been optimized to minimize reflected energy at each node can cause a host of network problems. Even when data transfer seems to be working normally, dominant-bit collisions that occur randomly during arbitration or by design during an ACK bit may create sufficient signal reflections to cause priority inversion and delays from acknowledgment errors. Of course, more pronounced reflections can cause excessive bus delays due to bit-stuffing errors and normal data errors. These reflections can usually be controlled by optimizing the spacing between nodes according to established datatransmission practices.
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