CAN FD VS CAN

[faress_mansouri]

Hello, 

does the header of CAN frame and CAN FD frame have the same size ?

if not what's the size of the header of each header?

Thanks,

[PetrS]

Hi,

see figure 55-2 of the RM.

Or search over web, for example 

taken from Improving compatibility between CAN FD and legacy CAN devices | Semantic Scholar 

BR, Petr