CAN Error detection

[MarkT]

I have a question regarding the CAN error detection mechanism:

If any one node on a CAN net detects an error it sends an error frame.
If any of the receivers detects an error and sends an error frame the sender must repeat the frame.

Is it therefore safe to assume that all nodes which received the frame correctly will drop this frame?
Or is there any condition under which a node receives a frame two or more times because some other nodes sent an error frame?

Thanks for the clarification.

-Mark

[Wilfried]

Hi Mark,

Sorry for the late response, but I just found your entry...

The CAN standard assures that, as soon as an error frame is sent to the bus - regardless of who did it, the message is being destroyed within all nodes. Your application won't even know there was a message, unless you check the error counter. If the error came from a sending node, it will retry sending the same message until the internal error counter disables the node. Yes, it can happen that the same faulty message is sent several times, and each time the message will be destroyed within all CAN controllers.

Regards,
Wilfred