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CANǿW(wng)j(lu)(Controller Area Network, CAN)ĺQ
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l(f)ڣ[2016-10-19] [5378]ΡЇ늚ЈُW(wng)[EM39.com]{(bio)pԄӝL} |
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CAN CANǿW(wng)j(lu)(Controller Area Network, CAN)ĺQаl(f)a(chn)܇Ӯa(chn)ƷQĵBOSCH˾_l(f)KɞH(bio)(zhn)ISO 11898LJHϑ(yng)VĬF(xin)֮һ ڱWCANf(xi)hѽ(jng)ɞ܇ӋCϵy(tng)ǶʽI(y)ƾW(wng)Ę(bio)(zhn)ғCANӅf(xi)h؛܇عCе܇vO(sh)ӋJ1939f(xi)h[1] CAN Controller Area Network _l(f)˾BOSCH˾ ءc Hϑ(yng)VĬF(xin)֮һ Ŀ 1 2 (yu) 3 l(f)չ 4 c 5 g(sh)B 6 ɿ 7 (yng)e 8 (yu)c 9 yԇ 10 e`̎ CAN Controller Area Network Ŀs·QCANISOH(bio)(zhn)ĴͨŅf(xi)h܇a(chn)I(y)ڌȫԡmͳɱҪNӵӿϵy(tng)_l(f)˳@Щϵy(tng)֮gͨõĔ(sh)(j)ͼɿԵҪMͬɶl(gu)ɵrܶĔ(sh)ҲS֮m(yng)pپĔ(sh)ͨ^LANMд(sh)(j)ĸͨšҪ1986 늚̲˾_l(f)܇CAN ͨŅf(xi)h˺CAN ͨ^ISO11898 ISO11519 M˘(bio)(zhn)ښW܇W(wng)j(lu)Ę(bio)(zhn)f(xi)h CAN ĸܺͿɿѱJ(rn)ͬVؑ(yng)ڹI(y)Ԅӻt(y)O(sh)I(y)O(sh)ȷF(xin)Ǯ(dng)ԄӻI(lng)g(sh)l(f)չğc֮һuԄӻI(lng)ӋCW(wng)ijF(xin)ֲʽϵy(tng)F(xin)(ji)c֮grɿĔ(sh)(j)ͨṩˏļg(sh)֧ (yu)ݾ CANڬF(xin)ķһNЧֲַ֧ʽƻ?q)rƵĴͨžW(wng)j(lu)^֮SRS-485R(gu)ķֲʽϵy(tng)CANķֲʽϵy(tng)·@ă(yu)Խԣ W(wng)j(lu)(ji)c֮gĔ(sh)(j)ͨŌrԏ CANڶNʽW(wng)j(lu)еĸ(ji)cɸ(j)L(yu)ș(qun)ȡQڈĘ(bio)RßopY(ji)(gu)λٲõķʽl(f)͔(sh)(j)CANf(xi)hUվַa֮ԌͨŔ(sh)(j)Mоa@ʹͬĹ(ji)cͬrյͬĔ(sh)(j)@ЩcʹCAN(gu)ɵľW(wng)j(lu)(ji)c֮gĔ(sh)(j)ͨŌrԏט(gu)Y(ji)(gu)ϵy(tng)ĿɿԺϵy(tng)`RS-485ֻܘ(gu)ʽY(ji)(gu)ϵy(tng)ͨŷʽҲֻվ݆ԃķʽMϵy(tng)Črԡɿ^ _l(f)ڶ CANͨ^CANհl(f)ӿоƬ82C250ăɂݔCANHCANLcBCANH˵ĠB(ti)ֻǸƽҸB(ti)CANLֻǵƽҸB(ti)@ͱCڳF(xin)RS-485W(wng)j(lu)еĬF(xin)(dng)ϵy(tng)e`F(xin)(ji)cͬrl(f)͔(sh)(j)r(do)¿ʬF(xin)·ĶpijЩ(ji)cĬF(xin)CAN(ji)ce`(yn)صr¾ԄP(gun)]ݔʹ(ji)cIJӰĶCF(xin)ھW(wng)j(lu)Уe(ji)cF(xin)}ʹÿ̎ڡiB(ti)CANеƵͨŅf(xi)hCANоƬӿоƬ팍F(xin)Ķϵy(tng)_l(f)ys_l(f)@ЩǃH늚f(xi)hRS-485oȔM γɇH(bio)(zhn)ĬF(xin) ⣬cF(xin)^CANǾͨʸߡF(xin)ԃrȸߵTcһNγɇH(bio)(zhn)ĬF(xin)@ЩҲCAN(yng)ڱI(lng)ЏŵЈҪԭ ǰ;ĬF(xin)֮һ CAN W(wng)j(lu)ڹI(y)F(xin)ķcһͨſ,CANĔ(sh)(j)ͨžͻĿɿrԺ`ԡõܼصO(sh)ӋCANԽԽܵ˂ҕ܇I(lng)ϵđ(yng)VһЩ܇SBENZYBMWRPORSCHErݣROLLS-ROYCE˹R˹JAGUARݱȶCAN팍F(xin)܇(ni)ϵy(tng)czy͈(zh)ЙC(gu)gĔ(sh)(j)ͨͬrCANc䑪(yng)÷Ѳپ܇ИI(y)Ԅӿպ^̹I(y)CеI(y)Cеr(nng)ÙCеC(sh)ؙCt(y)еI(lng)l(f)չCANѽ(jng)γɇH(bio)(zhn)ѱJ(rn)Nǰ;ĬF(xin)֮һ͵đ(yng)Åf(xi)hУSAE J1939/ISO11783CANOpenCANaerospaceDeviceNetNMEA 2000ȡ l(f)չ ֲW(wng)CANCONTROLLER AREA NETWORKBOSCH˾F(xin)܇(yng)I(lng)ƳһNCֲW(wng)߿ɿrԵȃ(yu)cF(xin)яV(yng)ڹI(y)ԄӻNO(sh)ͨt(y)xԼh(hun)ƵȱಿTֲW(wng)ЇѸռƏV SӋCӲܛg(sh)·g(sh)Ѹٰl(f)չI(y)ϵy(tng)ѳɞӋCg(sh)(yng)I(lng)һ֧ȡ˾Mڌϵy(tng)ɿԺ`ԵĸҪI(y)ϵy(tng)İl(f)չҪF(xin)飺Ԫϵy(tng)ɢؓ(f)dɢܷɢΣUɢ͵ɢ ɢʽI(y)ϵy(tng)Ǟm(yng)@NҪl(f)չ@ϵy(tng)͙C 5Cg(sh)--COMPUTERӋCg(sh)CONTROLԄӿƼg(sh)COMMUNICATIONͨżg(sh)CRT@ʾg(sh) CHANGED(zhun)Qg(sh)oܽY(ji)ϵĮa(chn)m(yng)ɔUչɾSoԼȷ^֮ɢ̓xϵy(tng)ͼӋCϵy(tng)@ă(yu)Խ ͵ķɢʽϵy(tng)ɬF(xin)O(sh)ӿcӋO(sh)ԼͨO(sh)MɡF(xin)FIELDBUSͬrM^̿ƺI(y)ԄӻҪF(xin)ѳɞ鹤I(y)(sh)(j)I(lng)SһI(lng)F(xin)оc(yng)ѳɞ鹤I(y)(sh)(j)I(lng)ğcM܌F(xin)оδһƵĘ(bio)(zhn)F(xin)ĸ܃r،I(y)ϵy(tng)ͬrڬF(xin)Ę(bio)(zhn)δy(tng)һҲʹìF(xin)đ(yng)õԲһذl(f)]F(xin)ṩS(j)ֲW(wng) CANCONTROLLER AERANETWORK@N(yng)\ CANͬI(lng)úƏV(do)ҪN(yng)I(lng)ͨňĵĘ(bio)(zhn)ˣ1991 9 PHILIPS SEMICONDUCTORSӆl(f) CANg(sh)Ҏ(gu)VERSION 2.0ԓg(sh)Ҏ(gu)ABɲ2.0AoCANg(sh)Ҏ(gu)汾1.2жxCANĸʽṩ11λַ2.0Bo˘(bio)(zhn)ĺ͔UչăɷNĸʽṩ29λַ˺199311ISOʽC˵·ͨ\d--(sh)ϢQ--ͨſֲW(wng)CANH(bio)(zhn)ISO11898ֲW(wng)(bio)(zhn)Ҏ(gu)ƏVƽ˵· c CANǵBOSCH˾80QF(xin)܇бĿcyԇx֮gĔ(sh)(j)Q_l(f)һNД(sh)(j)ͨŅf(xi)hһNͨŽ|(zh)pgͬS|⌧(do)wSͨ߿_1Mbps ɌͨŔ(sh)(j)ijɎ̎ CANͨŽӿмCANf(xi)hӺ͔(sh)(j)·ӹɌͨŔ(sh)(j)ijɎ̎λ(sh)(j)Kaѭh(hun)z(yu)ȼЄe헹 ʹW(wng)j(lu)(ni)Ĺ(ji)c(sh)Փϲ CANf(xi)hһcǏU˂y(tng)վַa֮ԌͨŔ(sh)(j)KMоa@Nă(yu)cʹW(wng)j(lu)(ni)Ĺ(ji)c(sh)Փϲƣ(sh)(j)KĘ(bio)R11λ29λMƔ(sh)M˿Զx22ϲͬĔ(sh)(j)K@N(sh)(j)Kaķʽ߀ʹͬĹ(ji)cͬrյͬĔ(sh)(j)@һcڷֲʽϵy(tng)зdz(sh)(j)L8ֹ(ji)ɝMͨI(y)I(lng)пB(ti)yԇ(sh)(j)һҪͬr8ֹ(ji)ռÿrg^LĶCͨŵČrCANf(xi)hCRCzṩ(yng)e`̎C˔(sh)(j)ͨŵĿɿCANԽOߵĿɿԺͪصO(sh)ӋemϹI(y)^̱O(jin)O(sh)ĻBˣԽԽܵI(y)ҕѹJ(rn)ǰ;ĬF(xin)֮һ ڸ(ji)c֮gF(xin)ͨ CAN˶ʽY(ji)(gu)жվ\кͷɢٲõĴпԼVͨŵcCAN⹝(ji)crӵW(wng)j(lu)(ji)cl(f)ϢΣ˿ڸ(ji)c֮gF(xin)ͨCANf(xi)hѱH(bio)(zhn)MJ(rn)Cg(sh)^죬ƵоƬѽ(jng)Ʒԃrȸemڷֲʽyϵy(tng)֮gĔ(sh)(j)ͨӍCAN忨PC AT XTݙCϣؘ(gu)ɷֲʽO(jin)ϵy(tng) Y(ji)(gu) ֻ2cⲿB҃(ni)e`̽yģK ݔx CANc(1) (sh)(j)ͨś]֮һ(ji)cκһ(ji)cl(f)(sh)(j)ͨ(ji)cϢ(yu)ȼȺQͨŴ߃(yu)ȼ(ji)cϢ134sͨ; (2) (ji)cͬrl(f)ͨŕr(yu)ȼ͵ı(yu)ȼߵģͨž·ɓ; (3) ͨžxh(yun)_10KM(ʵ5Kbps)ʿ_1Mbps(ͨžxС40M4) CANݔ|(zh)pgͬS|CANmڴ(sh)(j)̾xͨŻLxС(sh)(j)rҪ^Ļ߸(ji)cƽȵĬF(xin)ʹ g(sh)B λٲ Ҫ(sh)(j)MЌr̎ͱ회(sh)(j)ق@Ҫ(sh)(j)ݔͨ·^ߵٶڎׂվͬrҪl(f)͔(sh)(j)rҪٵMпr̎ͨ^W(wng)j(lu)Qľo(sh)(j)^IJͬһ׃܇ؓ(f)d܇ض@׃^l͔(sh)(j)Ҫ̵ӕr CANԈĞλMД(sh)(j)ͣĵă(yu)ȼY(ji)11λ(bio)RͶMƔ(sh)Ę(bio)Rߵă(yu)ȼ@N(yu)ȼһϵy(tng)O(sh)Ӌr_Ͳٱxȡеě_ͻͨ^λٲýQD2ʾ(dng)ׂվͬrl(f)͈ĕrվ1ĈĘ(bio)R011111վ2ĈĘ(bio)R0100110վ3ĈĘ(bio)R0100111И(bio)Rͬăλ01ֱ3λMб^rվ1ĈıGĵ3λߣɂվĈĵ3λ͡վ2վ3ĵ456λֱͬ7λrվ3ĈIJűGʧעе̖m(x)ۙ@ÿxȡ(qun)վĈڴվ2Ĉıۙ@NƉλٲ÷ă(yu)cھW(wng)j(lu)K_һվĈıǰĵʼѽ(jng)ھW(wng)j(lu)ςδ@ÿxȡ(qun)վɞ߃(yu)ș(qun)ĵĽվҲڿٴοeǰl(f)͈ CAN^ߵЧ鿂HHЩՈҶδQվ@ЩՈǸ(j)ϵy(tng)еҪ̎@NھW(wng)j(lu)ؓ(f)d^ؕrкܶ(yu)c鿂xȡă(yu)ȼѱÿ@ԱCڌrϵy(tng)^͵Ăw[rg վĿɿCANf(xi)h(zh)зǼл,Ҫͨţxȡ Sɣϵy(tng)з֎״@njF(xin)^߿ɿԵͨϵy(tng)Ψһ CANcͨŷı^ ڌ`ЃɷNҪĿ䷽rgͰҪ䡣ڵһNÿ(ji)cǷՈÿ(ji)cgɴɱoÿվΨһվՓMпȡһضrgMпȡ@Cڿȡr_Ŀ䡣ڵڶN͔(sh)(j)ĻҪoһվϵy(tng)վϣĂͷ䣨磺EthernetCSMA/CD(dng)վͬrՈȡrKֹվՈ@rκһվ@ÿ˷係һȡDZҪ CANF(xin)ķɱC(dng)ͬվՈȡr_Mп@NλٲõķԽQ(dng)ɂվͬrl(f)͔(sh)(j)ra(chn)ײ}ͬEthernetW(wng)j(lu)ϢٲãCANķƉԽQȡ_ͻķ_ڲϢrռá(dng)ؓ(f)drϢ(ni)ݞ郞(yu)ȵĿȡҲCһNЧϵy(tng)mȻĂݔδQĂݔՈҪ̎CSMA/CD@ӵľW(wng)j(lu)Ethernetϵy(tng)^d@NrCANвl(f) CANĈĸʽ ڿЂ͵Ĉÿ7ֽMɡCANf(xi)h֧փɷNĸʽΨһIJͬǘ(bio)RIDLȲͬ(bio)(zhn)ʽ11λUչʽ29λ ژ(bio)(zhn)ʽĵʼλQ鎬ʼSOFȻ11λ(bio)Rh(yun)̰l(f)Ոλ (RTRMɵٲÈRTRλ(bio)ǔ(sh)(j)߀ՈՈЛ]Д(sh)(j)ֹ(ji) ƈ(bio)RUչλIDEָǘ(bio)(zhn)ʽ߀ǔUչʽ߀һλ (ro錢UչʹĂλÁָ(sh)(j)Д(sh)(j)LȣDLC(sh)(j)08ֹ(ji),һzy(sh)(j)e`ѭh(hun)z(CRC (yng)ACK(yng)λ͑(yng)ָl(f)վl(f)͵@λ[ƽ߉1@r_ՈĵĽվl(f)ƽ߉0w@Nl(f)վԱCW(wng)j(lu)һվ_յġ ĵβɎY(ji)(bio)ăɗlgһ̵ܶgλ@r]վMпȡ̎ڿeB(ti) CAN(sh)(j)ĽM h(yun)̎ h(yun)̎6MɣʼٲÈƈCRC(yng)͎Y(ji)h(yun)̎ڔ(sh)(j) h(yun)̎RTRλ[λ DLCĔ(sh)(j)ֵǪ08еκΔ(sh)ֵ錦(yng)(sh)(j)Ĕ(sh)(j)Lȡ e` e`ɃɂͬMһɁԸվe`(bio)־Bӵõڶe`綨 e`(bio)־ЃɷNʽ e`(bio)־Active error flag6Bm(x)@λM J(rn)e`(bio)־Passive error flag6Bm(x)[λM e`綨8[λ d dɂλd(bio)־ͳd綨 l(f)ͳdijdl Ҫtһ(sh)(j)h(yun)̎ gЪzy@λ d(bio)־6@λM d綨8[λM (sh)(j)e`zy ͬCANf(xi)hʹÑ(yng)ϢԌl(f)κe`̖l(f)CANf(xi)hʹNze`ķǰNڈă(ni)ݙz 3.4.1ѭh(hun)z飨CRC) һмzλɱC_վͨ^CRCДǷe 3.4.2 z @Nͨ^λz鎬ĸʽʹС_ĵ_ԣڙzʽϵe` 3.4.3.(yng)e` ǰյĎɽվͨ^_đ(yng)_J(rn)l(f)վδյ(yng)ôվl(f)F(xin)e`ҲfACKѓpĻW(wng)j(lu)еĈğoվաCANf(xi)hҲͨ^λzķ̽ye` 3.4.4 zy ЕrCANеһ(ji)cɱO(jin)yԼl(f)̖ˣl(f)͈ĵվ^yƽ̽yl(f)λͽλIJ 3.4.5 λ һеÿһλɲwaʾɱCλaЧȻһ̫ͬƽλпʧȥͬ鱣Cͬͬλa(chn)傀Bm(x)λl(f)վԄӲһc֮aaaλՕr@λԄӁG磬傀Bm(x)ĵƽλCANԄӲһƽλCANͨ^@NaҎ(gu)tze`һ6ͬλCAN֪l(f)e` һվͨ^Ϸ̽y һe`l(f)ͳe(bio)־Kֹ(dng)ǰİl(f)@ֹվe`ĈģCW(wng)j(lu)ψĵһ(dng)l(f)͔(sh)(j)Kֹl(f)վԄӵ°l(f)͔(sh)(j)Ҏ(gu)t̽ye`23λڃ(ni)_ʼl(f)ϵy(tng)Ļ֏(f)rg31λ @Nһ}һl(f)e`վ(do)Д(sh)(j)KֹҲ_Ĕ(sh)(j),ȡԱO(jin)yʩϵy(tng)(yng)ģKO(sh)ӋCANf(xi)hṩһNżȻe`e`;ֲվʧЅ^(q)ek@Nͨ^eվy(tng)Ӌu_һվe`MһNվa(chn)Ӱ푵\з팍F(xin)վͨ^P(gun)]Լֹ(sh)(j)e`خ(dng)ɲ_Ĕ(sh)(j)Kֹ Ӳͬͬ ӲֻͬڿeB(ti)l[λ@λ׃ذl(f)rMУĂݔ_ʼӲ֮ͬλrgӋ(sh)Sͬ_ʼӋ(sh)ӲͬЌѰl(f)׃_ʼλrgͬ(ni)(j)ͬҎ(gu)tijһλrg(ni)һӲͬF(xin)ԓλrg(ni)l(f)ͬͬ܌(do)λ_1Lλ_2̡@ɂλ_εLrgs̕rgͬD(zhun)ȣSJWo ɿԾ ֹ܇ʹÉڃ(ni)ڔ(sh)(j)Qe`˾CΣU܇İȫϵy(tng)Ҫ(sh)(j)ݔ^ߵİȫ(sh)(j)ݔ?sh)ĿɿߚĔ?sh)(j)e`͵Ԓ@һĿ(bio)yF(xin)Ŀϵy(tng)(sh)(j)ĽǶȿɿԿݔ^̮a(chn)Ĕ(sh)(j)e`Re (sh)(j)e`ĸʿͨ^(sh)(j)ݔɿԵĽy(tng)Ӌy@á˂͔(sh)(j)Ɖĺ@NƉIJܱ̽yĸ(sh)(j)e`ʱ횷dzСʹϵy(tng)ڃ(ni)ƽy(tng)ӋrzyӋ㚈e`Ҫ܉?q)?sh)(j)e`MзҔ(sh)(j)ݔ·һģҪ_CANĚe`҂Ɍe`ĸ8090λĈĂ͕rλe`ʵĺ(sh)ٶ@ϵy(tng)510վe`ʞ1/1000ôλe`ʞ1013(sh)磬CANW(wng)j(lu)Ĕ(sh)(j)ݔ1Mbps(sh)(j)ݔHʹ50%ôһ4000СrƽLȞ 80λϵy(tng)͵Ĕ(sh)(j)9×1010ϵy(tng)\Љڃ(ni)əzyĂݔe`Ľy(tng)ӋƽС102QԒfһϵy(tng)ÿ365ÿ칤8Сrÿe`ʞ0. 7Ӌôy(tng)Ӌƽÿ1000ŕl(f)һəzye`[2] (yng)e CANڹI(lng)Ҫʹõ-eCANISO11898-3(bio)(zhn)܇I(lng)ʹ500KbpsĸCAN ijM܇͓܇mýwȶƾW(wng)j(lu)܇ʹCANW(wng)j(lu)mʹLINW(wng)j(lu)ýwʹMOSTW(wng)j(lu)CANW(wng)W(wng)ưl(f)әC׃ABS܇ȫģKD(zhun)١܇͜صȹȫ܇F(xin)܇ܻƣٕrԄi]܇TȫҏrԄ_܇Tȹܡ CANϵy(tng)ַ֞ٺ͵CANϵy(tng)ӲDŽٶȣ500kbpsECUABSCANmͣٶȣ125KbpsҪƃxI[3] ijt(y)ԺF(xin)5_16T/H˹ȼ?x)偠tϴ·Ƅҡ(yng)ˮůO(sh)ʩṩ5kg/cm2ȫȻ1200fm320fԁˮt(y)ԺýʽʽW(wng)MеԹĴ^(q)жůÚܴ(j)O(sh)Ӌ˻CANF(xin)ķֲʽ偠tW(wng)ܱO(jin)ϵy(tng)F(xin)(yng)ñԓԄӻϵy(tng)пɔ_F(xin)MB(ti)ףW(wng)j(lu)̶ȸ˙CѺõc (yu)c Uy(tng)վַa֮ԌͨŔ(sh)(j)KMоaԶʽ ÷Ɖٲüg(sh)(dng)ɂ(ji)cͬrW(wng)j(lu)ς͔(sh)(j)r(yu)ȼ͵Ĺ(ji)cֹͣ(sh)(j)l(f)ͣ(yu)ȼߵĹ(ji)cɲӰ^m(x)ݔ(sh)(j)Ч˿_ͻ ö̎Y(ji)(gu)ÿһЧֹ(ji)(sh)8(sh)(j)ݔrgܸɔ_ĸʵ°l(f)͵ĕrg ÿ(sh)(j)CRCУzeʩC˔(sh)(j)ݔ?sh)ĸ߿ɿmڸ߸ɔ_h(hun)ʹ (ji)ce`(yn)صr£ԄP(gun)]ĹДc(lin)ϵʹӰ ccһ༰Vзʽͺͽܔ(sh)(j) Ќrԏݔx^h(yun)늴Ÿɔ_ɱ͵ȃ(yu)c pͨŷʽzeڸɔ_h(hun)й Ѓ(yu)ș(qun)ٲùܣģKͨ^CAN쵽CAN-BusγɶCֲW(wng)j(lu) ɸ(j)ĵIDQջԓ ɿe`͙̎zeC l(f)͵ϢƉĺԄذl(f) (ji)ce`(yn)صr¾Ԅ˳Ĺ IJԴַĿ(bio)ַHØ(bio)־ָʾϢ(yu)ȼϢ yԇ߾ CANڹغ܇I(lng)CAN_l(f)yԇAҪ?f)Y(ji)(gu)(ji)cܣW(wng)·ϵM_l(f)yԇҪ̓M̓Mȫyԇƽ_ұ횜yԇ(ji)cǷISO11898Ҏ(gu)e`푑(yng)CƵȣCAN_l(f)ҪI(y)_l(f)yԇa(chn)AҲҪһõa(chn)yԇCAN_l(f)yԇߵҪ(yng)ZLGPassion IXXATIHRVectorIntrepidcsPassion WarwickLAIKEõ_l(f)yԇCANScopeCANalyst-IIPassiontech DiagRAcanAnalyserX-AnalyserAutoCANCANspiderLAIKE CANTest e`̎ CANд5Ne`ಢų溆νBһą^(q)ea(chn)ԭ̎ λe`:ͳһλij(ji)cͬrҲڱO(jin)ҕ(dng)O(jin)ҕλƽͳƽͬrtԓλr̙zyһλe`ٲÅ^(q)λg(yng)g϶ͳ[λzy@λrJ(rn)e`λͳJ(rn)e`(bio)עİl(f)ڙzy@λrҲJ(rn)e`λ e`:ʹλ䷽MоaĈF(xin)˵6Bm(x)ͬλƽrz yһe` CRCe`:CRCɰl(f)CRCӋĽY(ji)MɵԺͰl(f)ͬķӋCRCӋĽY(ji)ͽյCRCвͬtzyһCRCe` ʽe`: (dng)̶ʽλ^(q)гF(xin)һǷλrtzyһʽe` (yng)e`:ڑ(yng)g϶l(f)δzy@λrtzyһ(yng)e` zyelĹ(ji)cͨ^l(f)e`(bio)־MИ(bio)(dng)κι(ji)czyλe`e`ʽe`(yng)e`rԓ(ji)cһλ_ʼl(f)ͳe`(bio)־ (dng)zyCRCe`re(bio)־ڑ(yng)綨һλ_ʼl(f)ͣele`(bio)־ѽ(jng)_ʼl(f) CANκһԪ̎3NϠB(ti)֮һe`B(ti)ErrorActivee`J(rn)ɠB(ti)Error PassitiveͿP(gun)]B(ti)Bus off e`ԪճͿͨҮ(dng)zye`rͳһe`(bio)־e` J(rn)ɹ(ji)cɅͿͨDzSͳe`(bio)־(dng)zye`rֻͳJ(rn)e `(bio)־Ұl(f)ͺԞe`J(rn)ɠB(ti)ֱһΰl(f)ͳʼP(gun)]B(ti)SԪ κӰ푡 ˽綨ÿԪжO(sh)2Ӌ(sh)l(f)ͳeӋ(sh)ͽճeӋ(sh)@Щ Ӌ(sh)Ҏ(gu)tM 1ze`re`Ӌ(sh)1Йzye`ǰl(f)ͻe`(bio)־d(bio)־gλe` 2ͳe`(bio)־ĵһλz@λre`Ӌ(sh)8 3l(f)ͳһe`(bio)־rl(f)e`Ӌ(sh)8ЃɷNr⣺һl(f) e`J(rn)δzy@λ(yng)zy(yng)e`ͳJ(rn)e`(bio)־rδzy@λһNrٲa(chn)e`l(f)ͳһ[λe`(bio)־zy@λσɷNrl(f)e`Ӌ(sh)Ӌ(sh)׃ 4l(f)ͳһe`(bio)־d(bio)־rzyλe`tl(f)e`Ӌ(sh)8 5ͳe`(bio)־J(rn)e`(bio)־de`(bio)־κι(ji)cSBm(x)7@λڙzy11Bm(x)@λoSJ(rn)e`(bio)־zy8Bm(x)@λԼӵ8Bm(x)@λÿкÿl(f)İl(f)e`Ӌ(sh)8ÿĽe`Ӌ(sh)Ҳ8 6ijɹl(f)ͺl(f)e`Ӌ(sh)p1Ӌ(sh)ֵѽ(jng)0 7ijɹl(f)ͺe`Ӌ(sh)̎1197֮gtֵp1e`Ӌ(sh)0tԱ֞0127tֵӛ119127֮gij(sh)ֵ 8(dng)l(f)e`Ӌ(sh)ڻ128e`֭(sh)ڻ128r(ji)cMe`J(rn),ɠB(ti)(ji)cͳһe`(bio)־ 9(dng)l(f)e`Ӌ(sh)ڻ256r(ji)cM뿂P(gun)]B(ti) 1O(dng)l(f)e`Ӌ(sh)ͽe`Ӌ(sh)Сڻ127re`J(rn)ɹ(ji)cٴ׃?yu)e`(ji)c 11ڙzy11Bm(x)[λl(f)128κP(gun)](ji)c׃?yu)?e`Ӌ(sh)0e`(ji)c 12(dng)e`Ӌ(sh)(sh)ֵ96rf(yn)ظɔ_ ϵy(tng)gH1(ji)cڿϣ˹(ji)cl(f)ĺò(yng)𣬙ze`؏(f)ԓ˕rԓ(ji)c׃?yu)e`J(rn)ɹ(ji)cP(gun)]
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dֻfϢվ^cCϢHD(zhun)dՈע̎ |
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һƪģK ƪCANǿW(wng)j(lu)(Controller Area Network, CAN)ĺQ늚ُW(wng)(ُW(wng))ИI(y) һƪģK |
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