Which encoding is used by CAN bus?

The CAN bus protocol is widely used in modern vehicles for communication between various electronic modules. It employs a specific encoding method for data transmission, called Non-Return-to-Zero (NRZ) encoding.

NRZ encoding uses two voltage levels to represent binary data: a high voltage level (dominant) and a low voltage level (recessive). A dominant bit is transmitted as a logical zero, represented by a high voltage level, while a recessive bit is transmitted as a logical one, represented by a low voltage level.

CAN bus uses a differential signaling scheme, where the signal is transmitted over two wires: the CAN high (CANH) and CAN low (CANL) wires. The difference in voltage between these two wires represents the data being transmitted, and this differential signal is used to reduce noise interference.