can 入门书

jjsen

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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