Now let’s look at each of the fields in a Data Frame separately. CAN has a multi-master capability, which means that any node on the bus can initiate communication to any node configured to receive. This is done with a Start of Frame (SOF) field, which is a single dominant bit that occurs when the bus is idle. That dominant bit indicates that a transmitting node is starting a frame. All nodes on the bus will synchronize their bit timing to the leading edge of SOF.

