| CAN入门书 1. 概要 .................................................................................................................................................. 1 2. 使用注意事项.................................................................................................................................... 1 3. CAN 是什么？................................................................................................................................... 2 3.1 CAN 的应用示例............................................................................................................................... 3 3.2 总线拓扑图....................................................................................................................................... 4 4. CAN 的特点...................................................................................................................................... 5 5. 错误 .................................................................................................................................................. 6 5.1 错误状态的种类................................................................................................................................ 6 5.2 错误计数值....................................................................................................................................... 8 6. CAN 协议的基本概念......................................................................................................................... 9 7. CAN 协议及标准规格....................................................................................................................... 12 7.1 ISO 标准化的CAN 协议.................................................................................................................. 12 7.2 ISO11898 和ISO11519-2 的不同点................................................................................................ 13 7.3 CAN 和标准规格.............................................................................................................................. 17 8. CAN 协议........................................................................................................................................ 18 8.1 帧的种类 ......................................................................................................................................... 18 8.2 数据帧............................................................................................................................................. 21 8.3 遥控帧............................................................................................................................................. 28 8.4 错误帧............................................................................................................................................. 30 8.5 过载帧............................................................................................................................................. 31 8.6 帧间隔............................................................................................................................................. 32 8.7 优先级的决定.................................................................................................................................. 33 8.8 位填充............................................................................................................................................. 36 8.9 错误的种类..................................................................................................................................... 37 8.10 错误帧的输出.................................................................................................................................. 39 8.11 位时序............................................................................................................................................. 40 8.12 取得同步的方法............................................................................................................................... 42 8.13 硬件同步 ......................................................................................................................................... 43 8.14 再同步............................................................................................................................................. 44 8.15 调整同步的规则............................................................................................................................... 45 |
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