@@ -71,10 +71,14 @@ PGN
The PGN (Parameter Group Number) is a number to identify a packet. The PGN
is composed as follows:
-1 bit : Reserved Bit
-1 bit : Data Page
-8 bits : PF (PDU Format)
-8 bits : PS (PDU Specific)
+
+ ============ ============== =============== =================
+ Bit position of PGN fields in the 29-bit CAN identifier
+ ----------------------------------------------------------------
+ 25 24 23 ... 16 15 ... 8
+ ============ ============== =============== =================
+ R (Reserved) DP (Data Page) PF (PDU Format) PS (PDU Specific)
+ ============ ============== =============== =================
In J1939-21 distinction is made between PDU1 format (where PF < 240) and PDU2
format (where PF >= 240). Furthermore, when using the PDU2 format, the PS-field