the master has to resolve the collision by requesting all associated unconditional frames before requesting the event-triggered frame again. Sporadic frame. This frame is transmitted by the master as required, so a collision cannot occur. The header of a sporadic frame shall only be sent in its associated frame slot when the master task knows that a signal carried in the frame has been updated. The publisher of the sporadic frame shall always provide the response to the header. Diagnostic frame. These always carry diagnostic or configuration data and they always contain eight data bytes. The identifier is either 60 (0x3C), called master request frame, or 61(0x3D), called slave response frame. Before generating the header of a diagnostic frame, the master task asks its diagnostic module if it shall be sent or if the bus shall be silent. The slave tasks publish and subscribe to the response according to their diagnostic module. User-defined frame. These can carry any kind of information. Their identifier is 62 (0x3E). The header of a user-defined frame is always transmitted when a frame slot allocated to the frame is processed Reserved frame. These shall not be used in a LIN 2.0 cluster. Their identifier is 63 (0x3F). LIN hardware The LIN specification was designed to allow very cheap hardware-nodes being used within a network. It is a low-cost, single-wire network based on ISO 9141. In today’s car networking topologies, microcontrollers with either UART capability or dedicated LIN hardware are used. The microcontroller generates all needed LIN data (protocol ...) (partly) by software and is connected to the LIN network via a LIN transceiver (simply speaking, a level shifter with some add-ons). Working as a LIN node is only part of the possible functionality. The LIN hardware may include this transceiver and works as a pure LIN node without added functionality. As LIN Slave nodes should be as cheap as possible, they may generate their internal clocks by using RC oscillators instead of crystal oscillators (quartz or a ceramic). To ensure the baud rate-stability within one LIN frame, the SYNC field within the header is used. LIN protocol The LIN-Master uses one or more predefined scheduling tables to start the sending and receiving to the LIN bus. These scheduling tables contain at least the relative timing, where the message sending is initiated. One LIN Frame consists of the two parts header and response. The header is