{"id":115419,"date":"2026-10-12T05:32:51","date_gmt":"2026-10-11T21:32:51","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/115419.html"},"modified":"2026-10-12T05:32:51","modified_gmt":"2026-10-11T21:32:51","slug":"can-%e6%80%bb%e7%ba%bf%e9%94%99%e8%af%af%e5%a4%84%e7%90%86%e6%9c%ba%e5%88%b6%e8%af%a6%e8%a7%a3","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/115419.html","title":{"rendered":"CAN \u603b\u7ebf\u9519\u8bef\u5904\u7406\u673a\u5236\u8be6\u89e3"},"content":{"rendered":"<h3>\u2014\u2014\u4ece Error Frame\u3001TEC\/REC \u5230 Bus-Off&#xff0c;\u5f7b\u5e95\u7406\u89e3 CAN \u7684\u9519\u8bef\u5904\u7406\u54f2\u5b66<\/h3>\n<h4>\u4e00\u3001\u5148\u5efa\u7acb\u4e00\u4e2a\u6700\u91cd\u8981\u7684\u6982\u5ff5<\/h4>\n<p>\u5f88\u591a\u521d\u5b66\u8005\u7406\u89e3 CAN \u9519\u8bef\u65f6&#xff0c;\u5bb9\u6613\u5f62\u6210\u8fd9\u6837\u4e00\u4e2a\u5370\u8c61&#xff1a;<\/p>\n<p>\u201c\u53d1\u9001\u8282\u70b9\u628a\u6570\u636e\u53d1\u51fa\u53bb&#xff0c;\u63a5\u6536\u8282\u70b9\u53d1\u73b0\u9519\u8bef&#xff0c;\u7136\u540e\u901a\u77e5\u53d1\u9001\u8282\u70b9\u3002\u201d<\/p>\n<p>\u8fd9\u5e76\u4e0d\u662f CAN \u9519\u8bef\u5904\u7406\u673a\u5236\u7684\u5b8c\u6574\u542b\u4e49\u3002<\/p>\n<p>CAN \u7684\u8bbe\u8ba1\u5b9e\u9645\u4e0a\u66f4\u52a0\u4e3b\u52a8\u3002<\/p>\n<p>\u53d1\u9001\u8282\u70b9\u5728\u53d1\u9001\u7684\u540c\u65f6\u76d1\u542c\u603b\u7ebf&#xff1b;\u63a5\u6536\u8282\u70b9\u4e5f\u72ec\u7acb\u68c0\u67e5\u603b\u7ebf\u4e0a\u7684\u5e27\u3002<\/p>\n<p>\u56e0\u6b64&#xff0c;\u4e00\u6b21 CAN \u5e27\u4f20\u8f93\u8fc7\u7a0b\u4e2d&#xff1a;<\/p>\n<ul>\n<li>\u53d1\u9001\u8282\u70b9\u53ef\u80fd\u53d1\u73b0\u9519\u8bef&#xff1b;<\/li>\n<li>\u4e00\u4e2a\u6216\u591a\u4e2a\u63a5\u6536\u8282\u70b9\u4e5f\u53ef\u80fd\u53d1\u73b0\u9519\u8bef&#xff1b;<\/li>\n<li>\u53d1\u73b0\u9519\u8bef\u7684\u8282\u70b9\u53ef\u4ee5\u7acb\u5373\u53d1\u9001 Error Flag&#xff1b;<\/li>\n<li>\u5176\u4ed6\u8282\u70b9\u770b\u5230\u8fd9\u4e2a Error Flag \u540e&#xff0c;\u4e5f\u53ef\u80fd\u53d1\u73b0\u65b0\u7684\u9519\u8bef&#xff1b;<\/li>\n<li>\u591a\u4e2a\u8282\u70b9\u53d1\u9001\u7684 Error Flag \u4f1a\u5728\u603b\u7ebf\u4e0a\u53e0\u52a0&#xff1b;<\/li>\n<li>\u539f\u6765\u7684\u6570\u636e\u5e27\u88ab\u8ba4\u4e3a\u5df2\u7ecf\u635f\u574f&#xff1b;<\/li>\n<li>\u968f\u540e\u6309\u7167 CAN \u7684\u6062\u590d\u673a\u5236\u91cd\u65b0\u53d1\u9001\u3002<\/li>\n<\/ul>\n<p>ISO 11898-1 \u660e\u786e\u89c4\u5b9a&#xff0c;CAN \u63d0\u4f9b\u9519\u8bef\u68c0\u6d4b\u3001\u9519\u8bef\u4fe1\u53f7\u4ee5\u53ca\u81ea\u52a8\u91cd\u4f20\u673a\u5236&#xff1b;\u53d1\u751f\u9519\u8bef\u7684\u5e27\u4f1a\u88ab\u6807\u8bb0\u3001\u7ec8\u6b62&#xff0c;\u5e76\u6839\u636e\u6062\u590d\u673a\u5236\u91cd\u65b0\u53d1\u9001\u3002<\/p>\n<p>\u6240\u4ee5&#xff0c;\u7406\u89e3 CAN Error Frame&#xff0c;\u9996\u5148\u8981\u8bb0\u4f4f\u4e00\u53e5\u8bdd&#xff1a;<\/p>\n<p>CAN \u4e0d\u662f\u201c\u53d1\u73b0\u9519\u8bef\u4ee5\u540e\u62a5\u544a\u9519\u8bef\u201d&#xff0c;\u800c\u662f\u201c\u53d1\u73b0\u9519\u8bef\u4ee5\u540e\u7acb\u5373\u7834\u574f\u5f53\u524d\u9519\u8bef\u5e27&#xff0c;\u5e76\u8ba9\u6574\u4e2a\u7f51\u7edc\u91cd\u65b0\u5f00\u59cb\u8fd9\u6b21\u901a\u4fe1\u201d\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u3001\u7406\u89e3 Error Frame \u4e4b\u524d&#xff0c;\u5fc5\u987b\u5148\u7406\u89e3 Dominant \u548c Recessive<\/h2>\n<p>CAN \u603b\u7ebf\u4e0a\u53ea\u6709\u4e24\u79cd\u903b\u8f91\u72b6\u6001&#xff1a;<\/p>\n<ul>\n<li>Dominant&#xff1a;\u663e\u6027&#xff0c;\u903b\u8f91 0<\/li>\n<li>Recessive&#xff1a;\u9690\u6027&#xff0c;\u903b\u8f91 1<\/li>\n<\/ul>\n<p>\u5982\u679c\u4e00\u4e2a\u8282\u70b9\u53d1\u9001 Recessive&#xff0c;\u800c\u53e6\u4e00\u4e2a\u8282\u70b9\u53d1\u9001 Dominant&#xff1a;<\/p>\n<p>\u603b\u7ebf\u6700\u7ec8\u8868\u73b0\u4e3a Dominant\u3002<\/p>\n<p>\u8fd9\u662f CAN \u9519\u8bef\u5904\u7406\u673a\u5236\u80fd\u591f\u5de5\u4f5c\u7684\u7269\u7406\u57fa\u7840\u3002<\/p>\n<p>ISO 11898-1 \u5bf9\u8fd9\u4e00\u70b9\u5b9a\u4e49\u5f97\u975e\u5e38\u660e\u786e&#xff1a;Dominant \u8868\u793a\u903b\u8f91 0&#xff0c;Recessive \u8868\u793a\u903b\u8f91 1&#xff1b;\u540c\u65f6\u53d1\u9001\u663e\u6027\u548c\u9690\u6027\u65f6&#xff0c;\u6700\u7ec8\u603b\u7ebf\u72b6\u6001\u4e3a\u663e\u6027\u3002<\/p>\n<p>\u53ef\u4ee5\u7b80\u5355\u7406\u89e3\u6210&#xff1a;<\/p>\n<p>\u8282\u70b9 A&#xff1a;Recessive  1 \u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n                          \u251c\u2500\u2500 \u603b\u7ebf&#xff1a;Dominant 0<br \/>\n\u8282\u70b9 B&#xff1a;Dominant   0 \u2500\u2500\u2500\u2500\u2500\u2518<\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<p>Dominant \u53ef\u4ee5\u8986\u76d6 Recessive\u3002<\/p>\n<p>\u8fd9\u4e5f\u662f CAN \u80fd\u591f\u5b9e\u73b0&#xff1a;<\/p>\n<ul>\n<li>\u4ef2\u88c1&#xff1b;<\/li>\n<li>\u9519\u8bef\u6807\u5fd7&#xff1b;<\/li>\n<li>\u603b\u7ebf\u72b6\u6001\u5f3a\u5236\u6539\u53d8&#xff1b;<\/li>\n<\/ul>\n<p>\u7684\u6839\u672c\u539f\u56e0\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u3001CAN \u4e3a\u4ec0\u4e48\u80fd\u591f\u53d1\u73b0\u9519\u8bef&#xff1f;<\/h2>\n<p>ISO 11898-1 \u89c4\u5b9a\u4e86\u591a\u79cd\u9519\u8bef\u68c0\u6d4b\u65b9\u6cd5\u3002<\/p>\n<p>\u4e3b\u8981\u5305\u62ec&#xff1a;<\/p>\n<li>Monitoring \u2014\u2014 \u603b\u7ebf\u76d1\u89c6<\/li>\n<li>Bit Stuffing \/ Stuff Check \u2014\u2014 \u4f4d\u586b\u5145\u68c0\u67e5<\/li>\n<li>Frame Check \u2014\u2014 \u5e27\u683c\u5f0f\u68c0\u67e5<\/li>\n<li>CRC \u2014\u2014 \u5faa\u73af\u5197\u4f59\u6821\u9a8c<\/li>\n<li>ACK Check \u2014\u2014 \u5e94\u7b54\u68c0\u67e5<\/li>\n<li>CAN FD \u8fd8\u589e\u52a0\u4e86 Stuff Bit Count \u68c0\u67e5\u3002<\/li>\n<p>\u89c4\u8303\u660e\u786e\u89c4\u5b9a\u4e86\u4e94\u7c7b\u57fa\u672c\u9519\u8bef&#xff1a;<\/p>\n<table>\n<tr>\u9519\u8bef\u7c7b\u578b\u82f1\u6587\u8c01\u53ef\u4ee5\u53d1\u73b0<\/tr>\n<tbody>\n<tr>\n<td>\u4f4d\u9519\u8bef<\/td>\n<td>Bit Error<\/td>\n<td>\u53d1\u9001\u8282\u70b9\u7b49<\/td>\n<\/tr>\n<tr>\n<td>\u586b\u5145\u9519\u8bef<\/td>\n<td>Stuff Error<\/td>\n<td>\u8282\u70b9<\/td>\n<\/tr>\n<tr>\n<td>CRC\u9519\u8bef<\/td>\n<td>CRC Error<\/td>\n<td>\u63a5\u6536\u8282\u70b9<\/td>\n<\/tr>\n<tr>\n<td>\u683c\u5f0f\u9519\u8bef<\/td>\n<td>Form Error<\/td>\n<td>\u8282\u70b9<\/td>\n<\/tr>\n<tr>\n<td>ACK\u9519\u8bef<\/td>\n<td>ACK Error<\/td>\n<td>\u53d1\u9001\u8282\u70b9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8fd9\u4e9b\u9519\u8bef\u5e76\u4e0d\u662f\u4e92\u76f8\u6392\u65a5\u7684&#xff0c;\u4e00\u6b21\u6545\u969c\u53ef\u80fd\u5bfc\u81f4\u591a\u4e2a\u8282\u70b9\u4ea7\u751f\u4e0d\u540c\u7c7b\u578b\u7684\u9519\u8bef\u3002<\/p>\n<hr \/>\n<h2>\u56db\u3001\u7b2c\u4e00\u7c7b\u9519\u8bef&#xff1a;Bit Error<\/h2>\n<h3>4.1 \u4ec0\u4e48\u53eb Bit Error&#xff1f;<\/h3>\n<p>\u8fd9\u662f CAN \u9519\u8bef\u673a\u5236\u4e2d\u6700\u57fa\u7840\u7684\u6982\u5ff5\u3002<\/p>\n<p>\u4e00\u4e2a\u8282\u70b9\u53d1\u9001\u67d0\u4e00\u4f4d\u7684\u65f6\u5019&#xff0c;\u540c\u65f6\u76d1\u89c6\u603b\u7ebf\u3002<\/p>\n<p>\u5982\u679c&#xff1a;<\/p>\n<p>\u53d1\u9001\u503c \u2260 \u603b\u7ebf\u5b9e\u9645\u68c0\u6d4b\u503c<\/p>\n<p>\u5c31\u53ef\u80fd\u4ea7\u751f Bit Error\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\u8282\u70b9 A \u53d1\u9001&#xff1a;1&#xff08;Recessive&#xff09;<\/p>\n<p>\u603b\u7ebf\u5b9e\u9645&#xff1a;0&#xff08;Dominant&#xff09;<\/p>\n<p>A\u53d1\u73b0&#xff1a;<br \/>\n\u53d1\u9001 1<br \/>\n\u5b9e\u9645 0<\/p>\n<p>\u2192 Bit Error<\/p>\n<p>ISO 11898-1 \u7684\u5b9a\u4e49\u5c31\u662f&#xff1a;<\/p>\n<p>\u53d1\u9001\u8282\u70b9\u628a\u81ea\u5df1\u53d1\u9001\u7684 bit \u4e0e\u603b\u7ebf\u4e0a\u68c0\u6d4b\u5230\u7684 bit \u8fdb\u884c\u6bd4\u8f83&#xff0c;\u4e24\u8005\u4e0d\u540c\u5219\u68c0\u6d4b\u5230 Bit Error\u3002<\/p>\n<hr \/>\n<h2>\u4e94\u3001\u4f46\u662f\u6709\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u4f8b\u5916&#xff1a;\u4ef2\u88c1\u671f\u95f4\u4e0d\u80fd\u628a\u5b83\u5f53\u6210\u9519\u8bef<\/h2>\n<p>\u8fd9\u662f\u7406\u89e3 CAN \u6700\u5bb9\u6613\u51fa\u73b0\u6b67\u4e49\u7684\u5730\u65b9\u4e4b\u4e00\u3002<\/p>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<p>\u8282\u70b9 A&#xff1a;\u53d1\u9001 Recessive 1<br \/>\n\u8282\u70b9 B&#xff1a;\u53d1\u9001 Dominant 0<\/p>\n<p>\u603b\u7ebf&#xff1a;Dominant 0<\/p>\n<p>A \u770b\u5230&#xff1a;<\/p>\n<p>\u81ea\u5df1\u53d1\u9001&#xff1a;1<br \/>\n\u603b\u7ebf&#xff1a;0<\/p>\n<p>\u770b\u8d77\u6765\u5b8c\u5168\u7b26\u5408&#xff1a;<\/p>\n<p>\u201c\u53d1\u9001\u503c \u2260 \u603b\u7ebf\u503c\u201d<\/p>\n<p>\u4f46\u6b64\u65f6&#xff1a;<\/p>\n<p>A \u4e0d\u8ba4\u4e3a\u8fd9\u662f Bit Error\u3002<\/p>\n<p>\u56e0\u4e3a\u8fd9\u53ef\u80fd\u53ea\u662f&#xff1a;<\/p>\n<p>A \u8f93\u6389\u4e86 CAN \u4ef2\u88c1\u3002<\/p>\n<p>CAN \u6b63\u662f\u5229\u7528 Dominant \u8986\u76d6 Recessive \u7684\u7279\u70b9\u5b9e\u73b0\u975e\u7834\u574f\u6027\u4ef2\u88c1\u3002<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>\u4ef2\u88c1\u671f\u95f4&#xff1a;<\/p>\n<p>\u53d1\u9001 Recessive<br \/>\n\u2193<br \/>\n\u68c0\u6d4b\u5230 Dominant<br \/>\n\u2193<br \/>\n\u5982\u679c\u7b26\u5408\u4ef2\u88c1\u89c4\u5219<br \/>\n\u2193<br \/>\n\u4e0d\u662f\u9519\u8bef<br \/>\n\u2193<br \/>\n\u9000\u51fa\u4ef2\u88c1<\/p>\n<p>\u800c\u4e0d\u662f&#xff1a;<\/p>\n<p>\u53d1\u9001 Recessive<br \/>\n\u2193<br \/>\n\u68c0\u6d4b Dominant<br \/>\n\u2193<br \/>\nBit Error<\/p>\n<p>\u89c4\u8303\u660e\u786e\u628a\u4ef2\u88c1\u9636\u6bb5\u7684\u8fd9\u79cd\u60c5\u51b5\u4f5c\u4e3a Bit Error \u7684\u4f8b\u5916\u3002<\/p>\n<hr \/>\n<h2>\u516d\u3001\u7b2c\u4e8c\u7c7b\u9519\u8bef&#xff1a;Stuff Error<\/h2>\n<p>CAN \u4f7f\u7528 Bit Stuffing \u6765\u4fdd\u8bc1 NRZ \u7f16\u7801\u8fc7\u7a0b\u4e2d\u6709\u8db3\u591f\u7684\u8fb9\u6cbf\u7528\u4e8e\u540c\u6b65\u3002<\/p>\n<p>\u5728\u91c7\u7528\u4f4d\u586b\u5145\u7684\u5e27\u5b57\u6bb5\u4e2d&#xff1a;<\/p>\n<p>\u8fde\u7eed\u51fa\u73b0 5 \u4e2a\u76f8\u540c\u7535\u5e73\u540e&#xff0c;\u9700\u8981\u63d2\u5165\u4e00\u4e2a\u76f8\u53cd\u7535\u5e73\u7684 Stuff Bit\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\u53d1\u9001&#xff1a;<\/p>\n<p>00000<\/p>\n<p>\u4e0b\u4e00\u4f4d\u4e0d\u80fd\u7ee7\u7eed\u76f4\u63a5\u53d1\u9001 0&#xff0c;<br \/>\n\u800c\u5e94\u8be5\u63d2\u5165&#xff1a;<\/p>\n<p>000001<\/p>\n<p>\u63a5\u6536\u8282\u70b9\u6309\u7167\u76f8\u53cd\u89c4\u5219\u8fdb\u884c\u53bb\u586b\u5145\u3002<\/p>\n<p>\u5982\u679c\u672c\u6765\u5e94\u8be5\u51fa\u73b0 Stuff Bit&#xff0c;\u5374\u51fa\u73b0\u4e86\u9519\u8bef\u7684\u7b2c 6 \u4e2a\u8fde\u7eed\u76f8\u540c bit&#xff1a;<\/p>\n<p>000000<br \/>\n     \u2191<br \/>\n   Stuff Error<\/p>\n<p>ISO 11898-1 \u89c4\u5b9a&#xff1a;<\/p>\n<p>\u5728\u91c7\u7528 bit stuffing \u7684\u5e27\u5b57\u6bb5\u4e2d&#xff0c;\u7b2c\u516d\u4e2a\u8fde\u7eed\u76f8\u540c\u7535\u5e73\u7684 bit \u4f1a\u88ab\u68c0\u6d4b\u4e3a Stuff Error\u3002<\/p>\n<hr \/>\n<h2>\u4e03\u3001\u7b2c\u4e09\u7c7b\u9519\u8bef&#xff1a;CRC Error<\/h2>\n<p>\u53d1\u9001\u8282\u70b9\u6839\u636e\u5e27\u5185\u5bb9\u8ba1\u7b97 CRC\u3002<\/p>\n<p>\u63a5\u6536\u8282\u70b9\u6536\u5230\u6570\u636e\u540e&#xff1a;<\/p>\n<p>\u91cd\u65b0\u8ba1\u7b97 CRC<br \/>\n        \u2193<br \/>\n\u4e0e\u6536\u5230\u7684 CRC \u6bd4\u8f83<br \/>\n        \u2193<br \/>\n\u4e0d\u4e00\u81f4<br \/>\n        \u2193<br \/>\nCRC Error<\/p>\n<p>\u56e0\u6b64 CRC Error \u7684\u672c\u8d28\u662f&#xff1a;<\/p>\n<p>\u63a5\u6536\u8282\u70b9\u8ba4\u4e3a\u201c\u6536\u5230\u7684\u5185\u5bb9\u201d\u548c\u53d1\u9001\u65b9\u58f0\u660e\u7684\u5185\u5bb9\u4e0d\u4e00\u81f4\u3002<\/p>\n<p>\u9700\u8981\u6ce8\u610f&#xff1a;<\/p>\n<p>CRC Error \u901a\u5e38\u662f\u63a5\u6536\u8282\u70b9\u53d1\u73b0\u7684&#xff0c;\u800c\u4e0d\u662f\u53d1\u9001\u8282\u70b9\u901a\u8fc7\u81ea\u5df1\u76d1\u542c\u53d1\u73b0\u7684\u3002<\/p>\n<p>\u5bf9\u4e8e Classical CAN&#xff0c;\u89c4\u8303\u89c4\u5b9a\u4f7f\u7528 15-bit CRC&#xff1b;CAN FD \u6839\u636e\u6570\u636e\u957f\u5ea6\u4f7f\u7528 17-bit \u6216 21-bit CRC\u3002<\/p>\n<hr \/>\n<h2>\u516b\u3001\u7b2c\u56db\u7c7b\u9519\u8bef&#xff1a;Form Error<\/h2>\n<p>CAN \u5e27\u4e2d\u6709\u4e00\u4e9b\u5b57\u6bb5\u5177\u6709\u56fa\u5b9a\u683c\u5f0f\u3002<\/p>\n<p>\u4f8b\u5982\u67d0\u4e9b\u56fa\u5b9a\u4f4d\u7f6e\u5fc5\u987b\u662f&#xff1a;<\/p>\n<p>Dominant<\/p>\n<p>\u6216\u8005&#xff1a;<\/p>\n<p>Recessive<\/p>\n<p>\u5982\u679c\u5728\u8fd9\u4e9b\u56fa\u5b9a\u683c\u5f0f\u5b57\u6bb5\u4e2d\u51fa\u73b0\u975e\u6cd5 bit&#xff1a;<\/p>\n<p>Form Error<\/p>\n<p>\u4f8b\u5982 EOF \u6309\u89c4\u5b9a\u5e94\u8be5\u662f 7 \u4e2a Recessive&#xff1a;<\/p>\n<p>EOF&#xff1a;<\/p>\n<p>1 1 1 1 1 1 1<\/p>\n<p>\u5982\u679c\u51fa\u73b0\u4e0d\u7b26\u5408\u89c4\u5b9a\u7684 bit&#xff0c;\u5c31\u53ef\u80fd\u5f62\u6210 Form Error\u3002<\/p>\n<p>\u89c4\u8303\u4e5f\u89c4\u5b9a\u4e86\u7279\u6b8a\u4f8b\u5916&#xff0c;\u4f8b\u5982\u63a5\u6536\u8282\u70b9\u5728 EOF \u6700\u540e\u4e00\u4e2a bit \u770b\u5230 Dominant&#xff0c;\u4ee5\u53ca\u8282\u70b9\u5728 Error Delimiter \u6216 Overload Delimiter \u6700\u540e\u4e00\u4e2a bit \u770b\u5230 Dominant\u65f6&#xff0c;\u5e76\u4e0d\u56e0\u6b64\u628a\u5b83\u89e3\u91ca\u4e3a Form Error\u3002<\/p>\n<hr \/>\n<h2>\u4e5d\u3001\u7b2c\u4e94\u7c7b\u9519\u8bef&#xff1a;ACK Error<\/h2>\n<p>ACK \u662f CAN \u4e2d\u975e\u5e38\u7279\u6b8a\u7684\u4e00\u79cd\u9519\u8bef\u3002<\/p>\n<p>\u53d1\u9001\u8282\u70b9\u53d1\u9001\u5b8c\u6574\u5e27\u4ee5\u540e&#xff0c;\u5728 ACK Slot \u4e2d&#xff1a;<\/p>\n<p>\u53d1\u9001\u8282\u70b9&#xff1a;<\/p>\n<p>ACK Slot<br \/>\n   \u2193<br \/>\n\u672c\u6765\u53d1\u9001 Recessive<\/p>\n<p>\u6b63\u5e38\u60c5\u51b5\u4e0b&#xff1a;<\/p>\n<p>\u81f3\u5c11\u4e00\u4e2a\u6b63\u5e38\u63a5\u6536\u8282\u70b9&#xff1a;<\/p>\n<p>\u53d1\u9001 Dominant<\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<p>\u603b\u7ebf &#061; Dominant<\/p>\n<p>\u53d1\u9001\u8282\u70b9\u770b\u5230 Dominant&#xff1a;<\/p>\n<p>ACK \u6210\u529f\u3002<\/p>\n<p>\u5982\u679c\u53d1\u9001\u8282\u70b9\u5728 ACK Slot \u6ca1\u6709\u68c0\u6d4b\u5230 Dominant&#xff1a;<\/p>\n<p>ACK Error\u3002<\/p>\n<p>\u89c4\u8303\u660e\u786e\u89c4\u5b9a&#xff1a;<\/p>\n<p>\u5f53\u53d1\u9001\u8282\u70b9\u5728 ACK Slot \u6ca1\u6709\u76d1\u6d4b\u5230 Dominant \u65f6&#xff0c;\u68c0\u6d4b ACK Error\u3002<\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<h4>ACK Error \u4e0d\u7b49\u4e8e\u201c\u6570\u636e\u5185\u5bb9\u9519\u8bef\u201d\u3002<\/h4>\n<p>\u5b83\u9996\u5148\u8868\u793a&#xff1a;<\/p>\n<p>\u53d1\u9001\u8282\u70b9\u6ca1\u6709\u5f97\u5230 CAN \u5c42\u9762\u7684\u786e\u8ba4\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\u53ea\u6709\u4e00\u4e2a\u8282\u70b9&#xff1a;<\/p>\n<p>A \u2192 \u53d1\u9001 CAN \u5e27<\/p>\n<p>\u603b\u7ebf\u4e0a\u6ca1\u6709\u5176\u4ed6\u6b63\u5e38\u63a5\u6536\u8282\u70b9<\/p>\n<p>ACK Slot&#xff1a;<br \/>\n\u603b\u7ebf &#061; Recessive<\/p>\n<p>A&#xff1a;<br \/>\nACK Error<\/p>\n<p>\u8fd9\u5c31\u662f\u4e3a\u4ec0\u4e48&#xff1a;<\/p>\n<p>\u603b\u7ebf\u4e0a\u53ea\u6709\u4e00\u4e2a CAN \u8282\u70b9\u65f6&#xff0c;\u5b83\u53d1\u9001 CAN \u5e27\u901a\u5e38\u4f1a\u4e0d\u65ad\u9047\u5230 ACK Error\u3002<\/p>\n<p>\u89c4\u8303\u7684\u7f51\u7edc\u542f\u52a8\u7ae0\u8282\u4e5f\u660e\u786e\u8ba8\u8bba\u4e86\u8fd9\u79cd\u60c5\u51b5&#xff1a;\u5982\u679c\u7f51\u7edc\u542f\u52a8\u65f6\u53ea\u6709\u4e00\u4e2a\u8282\u70b9\u5728\u7ebf&#xff0c;\u8be5\u8282\u70b9\u53d1\u9001\u5e27\u540e\u5f97\u4e0d\u5230 ACK&#xff0c;\u4f1a\u68c0\u6d4b\u9519\u8bef\u5e76\u91cd\u590d\u53d1\u9001\u3002<\/p>\n<hr \/>\n<h2>\u5341\u3001Error Frame \u5230\u5e95\u662f\u4ec0\u4e48&#xff1f;<\/h2>\n<p>CAN Error Frame&#xff08;EF&#xff09;\u7531\u4e24\u4e2a\u90e8\u5206\u6784\u6210&#xff1a;<\/p>\n<p>Error Flag<br \/>\n     &#043;<br \/>\nError Delimiter<\/p>\n<p>\u89c4\u8303\u660e\u786e\u89c4\u5b9a Error Frame \u7531&#xff1a;<\/p>\n<li>\u4e0d\u540c\u8282\u70b9\u4ea7\u751f\u7684 Error Flag \u7684\u53e0\u52a0&#xff1b;<\/li>\n<li>Error Delimiter&#xff1b;<\/li>\n<p>\u6784\u6210\u3002<\/p>\n<hr \/>\n<h2>\u5341\u4e00\u3001Error Flag \u6709\u4e24\u79cd<\/h2>\n<h3>11.1 Active Error Flag \u2014\u2014 \u663e\u6027\u9519\u8bef\u6807\u5fd7<\/h3>\n<p>\u7531&#xff1a;<\/p>\n<p>6 \u4e2a\u8fde\u7eed Dominant bit<\/p>\n<p>\u7ec4\u6210\u3002<\/p>\n<p>0 0 0 0 0 0<\/p>\n<p>\u4e5f\u5c31\u662f&#xff1a;<\/p>\n<p>Dominant \u00d7 6<\/p>\n<p>Error-Active \u8282\u70b9\u53d1\u73b0\u9519\u8bef\u540e&#xff0c;\u5c31\u53d1\u9001 Active Error Flag\u3002<\/p>\n<hr \/>\n<h2>\u5341\u4e8c\u3001\u4e3a\u4ec0\u4e48 Active Error Flag \u8981\u53d1\u9001 6 \u4e2a Dominant&#xff1f;<\/h2>\n<p>\u56e0\u4e3a\u5b83\u7684\u76ee\u7684\u4e0d\u662f\u201c\u62a5\u544a\u4e00\u4e2a\u9519\u8bef\u7801\u201d\u3002<\/p>\n<p>\u5b83\u7684\u76ee\u7684\u5b9e\u9645\u4e0a\u662f&#xff1a;<\/p>\n<p>\u5f3a\u5236\u7834\u574f\u5f53\u524d\u6b63\u5728\u4f20\u8f93\u7684 CAN \u5e27\u3002<\/p>\n<p>CAN \u6b63\u5e38\u60c5\u51b5\u4e0b\u4f7f\u7528 Bit Stuffing\u3002<\/p>\n<p>\u8fde\u7eed 6 \u4e2a Dominant&#xff1a;<\/p>\n<p>000000<\/p>\n<p>\u5fc5\u7136\u7834\u574f\u6b63\u5e38\u7684 Stuffing \u89c4\u5219\u3002<\/p>\n<p>\u6240\u4ee5\u5176\u4ed6\u8282\u70b9\u4e5f\u4f1a\u53d1\u73b0&#xff1a;<\/p>\n<p>\u201c\u5f53\u524d\u5e27\u5df2\u7ecf\u4e0d\u7b26\u5408 CAN \u534f\u8bae\u89c4\u5219\u3002\u201d<\/p>\n<p>\u4e8e\u662f\u5b83\u4eec\u4e5f\u4f1a\u8fdb\u5165\u9519\u8bef\u5904\u7406\u3002<\/p>\n<p>\u8fd9\u5c31\u5f62\u6210\u4e00\u79cd\u975e\u5e38\u91cd\u8981\u7684\u6548\u679c&#xff1a;<\/p>\n<p>\u4e00\u4e2a\u8282\u70b9\u53d1\u73b0\u9519\u8bef<br \/>\n       \u2193<br \/>\n\u53d1\u9001 Active Error Flag<br \/>\n       \u2193<br \/>\n\u7834\u574f\u5f53\u524d\u5e27<br \/>\n       \u2193<br \/>\n\u5176\u4ed6\u8282\u70b9\u53d1\u73b0\u5f02\u5e38<br \/>\n       \u2193<br \/>\n\u5176\u4ed6\u8282\u70b9\u4e5f\u53d1\u9001 Error Flag<br \/>\n       \u2193<br \/>\n\u5168\u7f51\u5171\u540c\u786e\u8ba4&#xff1a;<br \/>\n\u8fd9\u5e27\u4e0d\u80fd\u7528\u4e86<\/p>\n<p>ISO 11898-1 \u7279\u522b\u6307\u51fa&#xff0c;\u4e0d\u540c\u8282\u70b9\u7684 Error Flag \u4f1a\u53d1\u751f\u53e0\u52a0&#xff0c;\u56e0\u6b64\u603b\u7ebf\u4e0a\u5b9e\u9645\u89c2\u5bdf\u5230\u7684\u8fde\u7eed Dominant \u5e8f\u5217\u53ef\u80fd\u662f&#xff1a;<\/p>\n<p>\u6700\u77ed&#xff1a;6 bit<br \/>\n\u6700\u957f&#xff1a;12 bit<\/p>\n<p>\u800c\u4e0d\u662f\u7b80\u5355\u5730\u8ba4\u4e3a\u201cError Frame \u4e00\u5b9a\u5c31\u662f 6 \u4e2a 0\u201d\u3002<\/p>\n<hr \/>\n<h2>\u5341\u4e09\u3001\u4e3a\u4ec0\u4e48\u6709\u65f6\u5019\u793a\u6ce2\u5668\u4e0a\u770b\u5230 6&#xff5e;12 \u4e2a 0&#xff1f;<\/h2>\n<p>\u8fd9\u662f\u975e\u5e38\u91cd\u8981\u7684\u5de5\u7a0b\u73b0\u8c61\u3002<\/p>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<p>A \u9996\u5148\u53d1\u73b0\u9519\u8bef<\/p>\n<p>A&#xff1a;<br \/>\n000000<\/p>\n<p>B\u3001C \u4e5f\u5728\u4e0d\u540c\u65f6\u95f4\u68c0\u6d4b\u5230\u4e86\u8fd9\u4e2a\u9519\u8bef\u3002<\/p>\n<p>\u5b83\u4eec\u4e5f\u4f1a\u53d1\u9001&#xff1a;<\/p>\n<p>B&#xff1a;<br \/>\n    000000<\/p>\n<p>C&#xff1a;<br \/>\n      000000<\/p>\n<p>\u7531\u4e8e Dominant \u53ef\u4ee5\u8986\u76d6 Recessive&#xff1a;<\/p>\n<p>\u5b9e\u9645\u603b\u7ebf&#xff1a;<\/p>\n<p>000000000000<\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<p>\u603b\u7ebf\u4e0a\u7684 Error Flag \u662f\u591a\u4e2a\u8282\u70b9 Error Flag \u7684\u53e0\u52a0\u7ed3\u679c\u3002<\/p>\n<p>\u89c4\u8303\u660e\u786e\u7ed9\u51fa\u4e86&#xff1a;<\/p>\n<p>6&#xff5e;12 \u4e2a\u8fde\u7eed Dominant<\/p>\n<p>\u7684\u8303\u56f4\u3002<\/p>\n<p>\u6240\u4ee5\u5728 CAN \u5206\u6790\u4eea\u4e0a\u770b\u5230&#xff1a;<\/p>\n<p>Error Flag &#061; 8 bit<\/p>\n<p>\u6216\u8005&#xff1a;<\/p>\n<p>Error Flag &#061; 10 bit<\/p>\n<p>\u5e76\u4e0d\u610f\u5473\u7740 CAN \u534f\u8bae\u51fa\u9519\u3002<\/p>\n<p>\u5f88\u53ef\u80fd\u53ea\u662f&#xff1a;<\/p>\n<p>\u591a\u4e2a\u8282\u70b9\u7684 Error Flag \u5728\u65f6\u95f4\u4e0a\u53d1\u751f\u4e86\u91cd\u53e0\u3002<\/p>\n<hr \/>\n<h2>\u5341\u56db\u3001Passive Error Flag \u2014\u2014 \u9690\u6027\u9519\u8bef\u6807\u5fd7<\/h2>\n<p>\u5f53\u4e00\u4e2a\u8282\u70b9\u8fdb\u5165&#xff1a;<\/p>\n<p>Error-Passive<\/p>\n<p>\u72b6\u6001\u4ee5\u540e&#xff0c;\u5b83\u4e0d\u80fd\u518d\u53d1\u9001 Active Error Flag\u3002<\/p>\n<p>\u5b83\u53d1\u9001&#xff1a;<\/p>\n<p>6 \u4e2a Recessive bit<\/p>\n<p>\u5373&#xff1a;<\/p>\n<p>1 1 1 1 1 1<\/p>\n<p>\u8fd9\u5c31\u662f&#xff1a;<\/p>\n<p>Passive Error Flag\u3002<\/p>\n<p>\u89c4\u8303\u660e\u786e\u89c4\u5b9a&#xff1a;<\/p>\n<ul>\n<li>Active Error Flag &#061; 6 \u4e2a Dominant<\/li>\n<li>Passive Error Flag &#061; 6 \u4e2a Recessive<\/li>\n<\/ul>\n<hr \/>\n<h2>\u5341\u4e94\u3001\u4e3a\u4ec0\u4e48 Error-Passive \u8981\u6539\u6210\u9690\u6027\u9519\u8bef\u6807\u5fd7&#xff1f;<\/h2>\n<p>\u8fd9\u91cc\u4f53\u73b0\u4e86 CAN \u5f88\u91cd\u8981\u7684\u201c\u6545\u969c\u9694\u79bb\u201d\u601d\u60f3\u3002<\/p>\n<p>\u5047\u8bbe\u67d0\u4e2a\u8282\u70b9\u5df2\u7ecf\u9891\u7e41\u51fa\u9519\u3002<\/p>\n<p>\u5982\u679c\u5b83\u4ecd\u7136\u53ef\u4ee5\u65e0\u9650\u5236\u5730\u53d1\u9001&#xff1a;<\/p>\n<p>000000<\/p>\n<p>\u90a3\u4e48\u4e00\u4e2a\u6709\u95ee\u9898\u7684\u8282\u70b9\u5c31\u53ef\u80fd\u4e0d\u65ad\u7834\u574f\u6574\u4e2a\u7f51\u7edc\u3002<\/p>\n<p>\u6240\u4ee5 CAN \u505a\u4e86\u4e00\u4ef6\u5f88\u806a\u660e\u7684\u4e8b\u60c5&#xff1a;<\/p>\n<h4>\u6b63\u5e38\u8282\u70b9&#xff1a;<\/h4>\n<p>Error-Active<br \/>\n       \u2193<br \/>\n\u53ef\u4ee5\u5f3a\u5236\u53d1\u9001 Dominant<br \/>\n       \u2193<br \/>\n\u53ef\u4ee5\u7acb\u5373\u7834\u574f\u9519\u8bef\u5e27<\/p>\n<h4>\u7ecf\u5e38\u51fa\u9519\u7684\u8282\u70b9&#xff1a;<\/h4>\n<p>Error-Passive<br \/>\n       \u2193<br \/>\n\u4e0d\u80fd\u518d\u5f3a\u5236 Dominant<br \/>\n       \u2193<br \/>\n\u53ea\u80fd\u53d1\u9001 Recessive Error Flag<\/p>\n<p>\u8fd9\u6837\u5b83\u4ecd\u7136\u80fd\u591f\u53c2\u4e0e\u901a\u4fe1&#xff0c;\u4f46\u5df2\u7ecf\u5931\u53bb\u4e86\u201c\u5f3a\u5236\u5168\u7f51\u505c\u6b62\u5f53\u524d\u5e27\u201d\u7684\u80fd\u529b\u3002<\/p>\n<p>\u8fd9\u5c31\u662f&#xff1a;<\/p>\n<p>Fault Confinement \u2014\u2014 \u6545\u969c\u9694\u79bb\u3002<\/p>\n<hr \/>\n<h2>\u5341\u516d\u3001Error Delimiter \u2014\u2014 \u9519\u8bef\u5b9a\u754c\u7b26<\/h2>\n<p>Error Flag \u540e\u9762\u7d27\u8ddf&#xff1a;<\/p>\n<p>8 \u4e2a Recessive bit<\/p>\n<p>\u79f0\u4e3a&#xff1a;<\/p>\n<p>Error Delimiter\u3002<\/p>\n<p>\u56e0\u6b64\u5178\u578b\u7ed3\u6784\u53ef\u4ee5\u7406\u89e3\u6210&#xff1a;<\/p>\n<p>Error Flag<br \/>\n    \u2193<br \/>\n6&#xff5e;12 \u4e2a Dominant<br \/>\n    \u2193<br \/>\nError Delimiter<br \/>\n    \u2193<br \/>\n8 \u4e2a Recessive<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a Error Delimiter \u4e3a 8 \u4e2a Recessive bit\u3002\u53d1\u9001 Error Flag \u540e&#xff0c;\u5404\u8282\u70b9\u53d1\u9001 Recessive \u5e76\u76d1\u89c6\u603b\u7ebf&#xff0c;\u68c0\u6d4b\u5230 Recessive \u540e\u518d\u53d1\u9001\u5176\u4f59\u7684 Recessive bit&#xff0c;\u4ee5\u5b8c\u6210 8-bit Error Delimiter\u3002<\/p>\n<hr \/>\n<h2>\u5341\u4e03\u3001\u4ece\u53d1\u9001\u65b9\u89d2\u5ea6\u770b&#xff1a;\u53d1\u751f\u9519\u8bef\u4ee5\u540e\u5230\u5e95\u53d1\u751f\u4ec0\u4e48&#xff1f;<\/h2>\n<p>\u8fd9\u662f\u7406\u89e3\u6574\u4e2a\u673a\u5236\u6700\u91cd\u8981\u7684\u4e00\u90e8\u5206\u3002<\/p>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<p>\u8282\u70b9 A \u6b63\u5728\u53d1\u9001&#xff1a;<\/p>\n<p>A \u2192\u2192\u2192 CAN Frame<\/p>\n<p>\u540c\u65f6 A \u81ea\u5df1\u4e5f\u76d1\u89c6\u603b\u7ebf\u3002<\/p>\n<hr \/>\n<h3>\u60c5\u51b5\u4e00&#xff1a;A \u53d1\u73b0 Bit Error<\/h3>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>A\u53d1\u9001&#xff1a;<\/p>\n<p>1<\/p>\n<p>\u603b\u7ebf&#xff1a;<\/p>\n<p>0<\/p>\n<p>\u5e76\u4e14\u6b64\u65f6\u4e0d\u662f\u4ef2\u88c1\u5141\u8bb8\u7684\u60c5\u51b5\u3002<\/p>\n<p>\u90a3\u4e48&#xff1a;<\/p>\n<p>A<br \/>\n\u2193<br \/>\n\u68c0\u6d4b Bit Error<br \/>\n\u2193<br \/>\n\u4e0b\u4e00 bit \u5f00\u59cb Error Flag<br \/>\n\u2193<br \/>\nA\u53d1\u9001 Active Error Flag<br \/>\n\u2193<br \/>\n\u5f53\u524d\u5e27\u88ab\u7834\u574f<\/p>\n<p>\u5982\u679c A \u662f Error-Active&#xff1a;<\/p>\n<p>Active Error Flag&#xff1a;<\/p>\n<p>000000<\/p>\n<p>\u5176\u4ed6\u8282\u70b9\u770b\u5230\u4e4b\u540e&#xff0c;\u4e5f\u4f1a\u68c0\u6d4b\u5230\u9519\u8bef\u3002<\/p>\n<hr \/>\n<h2>\u5341\u516b\u3001\u5982\u679c\u662f\u63a5\u6536\u65b9\u5148\u53d1\u73b0\u9519\u8bef\u5462&#xff1f;<\/h2>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<p>A&#xff1a;\u53d1\u9001\u6570\u636e<\/p>\n<p>B&#xff1a;\u63a5\u6536<br \/>\nC&#xff1a;\u63a5\u6536<br \/>\nD&#xff1a;\u63a5\u6536<\/p>\n<p>B \u5728 CRC \u6821\u9a8c\u65f6\u53d1\u73b0&#xff1a;<\/p>\n<p>CRC\u9519\u8bef<\/p>\n<p>\u90a3\u4e48 B&#xff1a;<\/p>\n<p>B<br \/>\n\u2193<br \/>\n\u53d1\u73b0 CRC Error<br \/>\n\u2193<br \/>\n\u5f53\u524d\u5e27\u4e0d\u80fd\u63a5\u53d7<br \/>\n\u2193<br \/>\n\u53d1\u9001 Error Frame<\/p>\n<p>\u5bf9\u4e8e Classical CAN \u7684 CRC Error&#xff0c;\u89c4\u8303\u89c4\u5b9a\u63a5\u6536\u8282\u70b9\u5728 ACK Delimiter \u4e4b\u540e\u53d1\u9001 Error Frame\u3002<\/p>\n<p>\u4e8e\u662f&#xff1a;<\/p>\n<p>A&#xff1a;\u6b63\u5728\u53d1\u9001<\/p>\n<p>B&#xff1a;\u53d1\u73b0 CRC Error<br \/>\n        \u2193<br \/>\n      Error Flag<br \/>\n        \u2193<br \/>\nA\u3001C\u3001D \u770b\u5230\u9519\u8bef<br \/>\n        \u2193<br \/>\n\u5f53\u524d\u5e27\u88ab\u7ec8\u6b62<\/p>\n<hr \/>\n<h2>\u5341\u4e5d\u3001\u6240\u4ee5 CAN \u4e2d\u5b58\u5728\u4e24\u6761\u5b8c\u5168\u4e0d\u540c\u7684\u9519\u8bef\u53d1\u73b0\u8def\u5f84<\/h2>\n<p>\u53ef\u4ee5\u628a\u5b83\u4eec\u603b\u7ed3\u6210&#xff1a;<\/p>\n<p>                 CAN Frame<br \/>\n                    \u2502<br \/>\n          \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n          \u2502                   \u2502<br \/>\n       \u53d1\u9001\u65b9                \u63a5\u6536\u65b9<br \/>\n          \u2502                   \u2502<br \/>\n   \u81ea\u5df1\u76d1\u542c\u603b\u7ebf          \u68c0\u67e5\u6536\u5230\u7684\u5e27<br \/>\n          \u2502                   \u2502<br \/>\n   Bit Error \/ ACK       Stuff \/ CRC \/<br \/>\n       \u7b49\u9519\u8bef             Form \u7b49\u9519\u8bef<br \/>\n          \u2502                   \u2502<br \/>\n          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n                    \u2193<br \/>\n               Error Flag<br \/>\n                    \u2193<br \/>\n              \u5f53\u524d\u5e27\u4f5c\u5e9f<br \/>\n                    \u2193<br \/>\n                \u81ea\u52a8\u91cd\u4f20<\/p>\n<p>\u8fd9\u5c31\u662f CAN \u9519\u8bef\u5904\u7406\u7684\u4e3b\u7ebf\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u3001\u4e3a\u4ec0\u4e48\u201c\u9519\u8bef\u5e27\u201d\u4e0d\u4f1a\u88ab\u518d\u6b21\u5f53\u6210\u666e\u901a\u6570\u636e\u5e27&#xff1f;<\/h2>\n<p>\u56e0\u4e3a Error Flag \u672c\u8eab\u6545\u610f\u91c7\u7528\u4e00\u79cd&#xff1a;<\/p>\n<p>\u8fdd\u53cd\u6b63\u5e38 CAN \u5e27\u89c4\u5219\u7684\u7279\u6b8a\u5f62\u5f0f\u3002<\/p>\n<p>Active Error Flag \u7684\u8fde\u7eed 6 \u4e2a Dominant \u4f1a\u8fdd\u53cd Bit Stuffing \u89c4\u5219\u6216\u8005\u56fa\u5b9a\u5b57\u6bb5\u683c\u5f0f\u3002<\/p>\n<p>\u56e0\u6b64\u5176\u4ed6\u8282\u70b9\u770b\u5230\u5b83\u4ee5\u540e&#xff0c;\u4e5f\u4f1a\u8fdb\u5165\u9519\u8bef\u5904\u7406\u3002<\/p>\n<p>\u6240\u4ee5 Error Frame \u672c\u8d28\u4e0a\u4e0d\u662f&#xff1a;<\/p>\n<p>\u201c\u4e00\u6761\u7279\u6b8a\u7684\u6570\u636e\u6d88\u606f\u201d\u3002<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u4e00\u79cd\u7528\u4e8e\u7834\u574f\u5f53\u524d\u901a\u4fe1\u3001\u8feb\u4f7f\u6240\u6709\u8282\u70b9\u653e\u5f03\u5f53\u524d\u5e27\u7684\u534f\u8bae\u63a7\u5236\u673a\u5236\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u4e00\u3001\u5f53\u524d\u5e27\u88ab\u7834\u574f\u4ee5\u540e\u600e\u4e48\u529e&#xff1f;<\/h2>\n<p>CAN \u5e76\u4e0d\u662f\u7b80\u5355\u5730&#xff1a;<\/p>\n<p>\u51fa\u9519<br \/>\n\u2193<br \/>\n\u4e22\u5f03<br \/>\n\u2193<br \/>\n\u7ed3\u675f<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u68c0\u6d4b\u9519\u8bef<br \/>\n\u2193<br \/>\nError Flag<br \/>\n\u2193<br \/>\nError Delimiter<br \/>\n\u2193<br \/>\n\u5f53\u524d\u5e27\u4f5c\u5e9f<br \/>\n\u2193<br \/>\n\u91cd\u65b0\u53c2\u4e0e\u603b\u7ebf\u4ef2\u88c1<br \/>\n\u2193<br \/>\n\u518d\u6b21\u53d1\u9001<\/p>\n<p>ISO 11898-1 \u660e\u786e\u89c4\u5b9a&#xff1a;<\/p>\n<ul>\n<li>\u4e22\u5931\u4ef2\u88c1\u7684\u5e27\u53ef\u4ee5\u81ea\u52a8\u91cd\u4f20&#xff1b;<\/li>\n<li>\u6ca1\u6709\u83b7\u5f97 ACK \u7684\u5e27\u53ef\u4ee5\u81ea\u52a8\u91cd\u4f20&#xff1b;<\/li>\n<li>\u7531\u4e8e\u9519\u8bef\u800c\u88ab\u7834\u574f\u7684\u5e27\u53ef\u4ee5\u81ea\u52a8\u91cd\u4f20\u3002<\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e8c\u5341\u4e8c\u3001\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u533a\u522b&#xff1a;Arbitration Lost \u4e0d\u5c5e\u4e8e Error<\/h2>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>A ID &#061; 100<br \/>\nB ID &#061; 200<\/p>\n<p>A\u3001B \u540c\u65f6\u53d1\u9001\u3002<\/p>\n<p>\u5728\u4ef2\u88c1\u8fc7\u7a0b\u4e2d&#xff1a;<\/p>\n<p>A&#xff1a;Recessive<br \/>\nB&#xff1a;Dominant<\/p>\n<p>Bus&#xff1a;Dominant<\/p>\n<p>A \u53d1\u73b0\u81ea\u5df1\u8f93\u4e86\u3002<\/p>\n<p>\u8fd9\u4e0d\u662f&#xff1a;<\/p>\n<p>Error Frame<\/p>\n<p>\u4e5f\u4e0d\u662f&#xff1a;<\/p>\n<p>TEC \u589e\u52a0<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u6b63\u5e38\u7684 CAN \u4ef2\u88c1\u8fc7\u7a0b\u3002<\/p>\n<p>A \u9000\u51fa&#xff0c;B \u7ee7\u7eed\u53d1\u9001\u3002<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>Lost Arbitration<br \/>\n\u2260<br \/>\nError<\/p>\n<p>\u8fd9\u662f CAN \u521d\u5b66\u8005\u5fc5\u987b\u7262\u7262\u8bb0\u4f4f\u7684\u4e00\u70b9\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u4e09\u3001TEC \u548c REC \u5230\u5e95\u662f\u4ec0\u4e48&#xff1f;<\/h2>\n<p>CAN \u4e3a\u6bcf\u4e00\u4e2a\u8282\u70b9\u7ef4\u62a4\u4e24\u4e2a\u9519\u8bef\u8ba1\u6570\u5668&#xff1a;<\/p>\n<h4>TEC<\/h4>\n<p>Transmit Error Counter<\/p>\n<p>\u53d1\u9001\u9519\u8bef\u8ba1\u6570\u5668\u3002<\/p>\n<p>\u4e3b\u8981\u53cd\u6620&#xff1a;<\/p>\n<p>\u8fd9\u4e2a\u8282\u70b9\u4f5c\u4e3a\u53d1\u9001\u8005\u65f6\u53d1\u751f\u9519\u8bef\u7684\u60c5\u51b5\u3002<\/p>\n<hr \/>\n<h4>REC<\/h4>\n<p>Receive Error Counter<\/p>\n<p>\u63a5\u6536\u9519\u8bef\u8ba1\u6570\u5668\u3002<\/p>\n<p>\u4e3b\u8981\u53cd\u6620&#xff1a;<\/p>\n<p>\u8fd9\u4e2a\u8282\u70b9\u4f5c\u4e3a\u63a5\u6536\u8005\u65f6\u53d1\u73b0\u9519\u8bef\u7684\u60c5\u51b5\u3002<\/p>\n<p>ISO 11898-1 \u8981\u6c42\u6240\u6709\u8282\u70b9\u5177\u6709\u53d1\u9001\u9519\u8bef\u8ba1\u6570\u5668\u548c\u63a5\u6536\u9519\u8bef\u8ba1\u6570\u5668\u3002\u89c4\u8303\u6307\u51fa&#xff0c;TEC \u8bb0\u5f55\u53d1\u9001\u8fc7\u7a0b\u4e2d\u7684\u9519\u8bef&#xff0c;REC \u8bb0\u5f55\u63a5\u6536\u8fc7\u7a0b\u4e2d\u7684\u9519\u8bef\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u56db\u3001\u4e3a\u4ec0\u4e48\u9700\u8981\u4e24\u4e2a\u8ba1\u6570\u5668&#xff1f;<\/h2>\n<p>\u56e0\u4e3a&#xff1a;<\/p>\n<p>\u201c\u603b\u7ebf\u4e0a\u6709\u9519\u8bef\u201d\u5e76\u4e0d\u7b49\u4e8e\u201c\u8fd9\u4e2a\u8282\u70b9\u6709\u95ee\u9898\u201d\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>A \u2192\u2192\u2192 B<\/p>\n<p>\u5982\u679c A \u7684\u53d1\u9001\u5668\u574f\u4e86&#xff1a;<\/p>\n<p>A&#xff1a;<br \/>\n\u53d1\u9001\u9519\u8bef\u5f88\u591a<\/p>\n<p>\u90a3\u4e48 A \u5e94\u8be5\u4e3b\u8981\u8868\u73b0\u4e3a&#xff1a;<\/p>\n<p>TEC \u2191\u2191\u2191<\/p>\n<p>\u800c B \u53ef\u80fd\u53ea\u662f&#xff1a;<\/p>\n<p>REC \u2191<\/p>\n<p>\u53cd\u8fc7\u6765&#xff0c;\u5982\u679c&#xff1a;<\/p>\n<p>\u603b\u7ebf\u53d7\u5230\u5916\u90e8\u5e72\u6270<\/p>\n<p>\u6240\u6709\u8282\u70b9\u90fd\u53ef\u80fd\u53d1\u73b0\u9519\u8bef\u3002<\/p>\n<p>\u8fd9\u65f6\u5019\u4e0d\u80fd\u7b80\u5355\u8ba4\u4e3a&#xff1a;<\/p>\n<p>\u201c\u53d1\u73b0\u9519\u8bef\u7684\u6240\u6709\u8282\u70b9\u90fd\u662f\u574f\u7684\u3002\u201d<\/p>\n<p>\u56e0\u6b64 CAN \u901a\u8fc7 TEC \u548c REC \u5206\u522b\u8bb0\u5f55\u53d1\u9001\u4fa7\u548c\u63a5\u6536\u4fa7\u7684\u9519\u8bef\u884c\u4e3a\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u4e94\u3001TEC\/REC \u5e76\u4e0d\u662f\u201c\u6bcf\u51fa\u73b0\u4e00\u6b21 Error Frame \u5c31\u7b80\u5355 &#043;1\u201d<\/h2>\n<p>\u8fd9\u662f\u53e6\u4e00\u4e2a\u975e\u5e38\u5bb9\u6613\u4ea7\u751f\u9519\u8bef\u7406\u89e3\u7684\u5730\u65b9\u3002<\/p>\n<p>\u89c4\u8303\u660e\u786e\u89c4\u5b9a&#xff1a;<\/p>\n<p>\u9519\u8bef\u8ba1\u6570\u89c4\u5219\u975e\u5e38\u5177\u4f53&#xff0c;\u800c\u4e14\u4e00\u6b21\u5e27\u4f20\u8f93\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u540c\u65f6\u9002\u7528\u591a\u4e2a\u89c4\u5219\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<h4>\u63a5\u6536\u8282\u70b9\u68c0\u6d4b\u5230\u9519\u8bef<\/h4>\n<p>\u901a\u5e38&#xff1a;<\/p>\n<p>REC &#043;&#061; 1<\/p>\n<p>\u4f46\u6709\u7279\u6b8a\u60c5\u51b5\u3002<\/p>\n<hr \/>\n<h4>\u63a5\u6536\u8282\u70b9\u5728\u53d1\u9001 Error Flag \u540e\u68c0\u6d4b\u5230\u7b2c\u4e00\u4e2a Dominant<\/h4>\n<p>REC &#043;&#061; 8<\/p>\n<hr \/>\n<h4>\u53d1\u9001\u8282\u70b9\u53d1\u9001 Error Flag<\/h4>\n<p>\u901a\u5e38&#xff1a;<\/p>\n<p>TEC &#043;&#061; 8<\/p>\n<p>\u4f46\u662f\u89c4\u8303\u89c4\u5b9a\u4e86\u4e24\u4e2a\u7279\u6b8a\u4f8b\u5916&#xff0c;\u5728\u8fd9\u4e24\u4e2a\u4f8b\u5916\u60c5\u51b5\u4e0b TEC \u4e0d\u589e\u52a0&#xff1a;<\/p>\n<li>Error-Passive \u53d1\u9001\u8282\u70b9\u7531\u4e8e\u6ca1\u6709\u68c0\u6d4b\u5230 ACK \u800c\u4ea7\u751f ACK Error&#xff0c;\u540c\u65f6\u53d1\u9001 Passive Error Flag \u65f6\u4e5f\u6ca1\u6709\u68c0\u6d4b\u5230 Dominant&#xff1b;<\/li>\n<li>\u4ef2\u88c1\u671f\u95f4\u7531\u4e8e Stuff Error \u4ea7\u751f Error Flag&#xff0c;\u800c\u76f8\u5173\u7684 Stuff Bit \u672c\u5e94\u4e3a Recessive\u3001\u5b9e\u9645\u4e5f\u53d1\u9001 Recessive&#xff0c;\u5374\u76d1\u6d4b\u5230 Dominant\u3002<\/li>\n<hr \/>\n<h2>\u4e8c\u5341\u516d\u3001\u4e3a\u4ec0\u4e48\u9519\u8bef\u65f6\u6709\u65f6\u662f &#043;1&#xff0c;\u6709\u65f6\u662f &#043;8&#xff1f;<\/h2>\n<p>\u8fd9\u662f CAN Fault Confinement \u673a\u5236\u7684\u5173\u952e\u3002<\/p>\n<p>\u53ef\u4ee5\u7c97\u7565\u7406\u89e3&#xff1a;<\/p>\n<p>\u666e\u901a\u63a5\u6536\u9519\u8bef&#xff1a;<\/p>\n<p>REC &#043;1<\/p>\n<p>\u4e25\u91cd\/\u7279\u6b8a\u9519\u8bef\u54cd\u5e94&#xff1a;<\/p>\n<p>REC &#043;8<\/p>\n<p>\u53d1\u9001\u8282\u70b9\u4e3b\u52a8\u4ea7\u751f Error Flag&#xff1a;<\/p>\n<p>TEC &#043;8<\/p>\n<p>CAN \u901a\u8fc7\u8fd9\u79cd\u4e0d\u540c\u6743\u91cd&#xff0c;\u4f7f\u8ba1\u6570\u5668\u80fd\u591f\u53cd\u6620&#xff1a;<\/p>\n<p>\u4e00\u4e2a\u8282\u70b9\u957f\u671f\u53c2\u4e0e\u901a\u4fe1\u65f6&#xff0c;\u5230\u5e95\u6709\u591a\u9891\u7e41\u5730\u51fa\u73b0\u5f02\u5e38\u3002<\/p>\n<p>\u89c4\u8303\u5bf9\u8fd9\u79cd\u8bbe\u8ba1\u7684\u603b\u4f53\u89e3\u91ca\u662f&#xff1a;<\/p>\n<p>\u6b63\u786e\u53d1\u9001\/\u63a5\u6536\u65f6\u8ba1\u6570\u5668\u4e0b\u964d&#xff1b;\u51fa\u73b0\u9519\u8bef\u65f6\u8ba1\u6570\u5668\u589e\u52a0&#xff0c;\u800c\u4e14\u9519\u8bef\u5bfc\u81f4\u7684\u589e\u52a0\u901f\u5ea6\u9ad8\u4e8e\u6b63\u5e38\u901a\u4fe1\u9020\u6210\u7684\u4e0b\u964d\u901f\u5ea6\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u4e03\u3001\u6210\u529f\u4ee5\u540e TEC\/REC \u4f1a\u4e0b\u964d<\/h2>\n<p>CAN \u5e76\u4e0d\u662f&#xff1a;<\/p>\n<p>\u72af\u4e00\u6b21\u9519\u8bef<br \/>\n&#043;<br \/>\n\u6c38\u4e45\u8bb0\u4e00\u7b14<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u5141\u8bb8\u6682\u65f6\u6027\u6545\u969c\u81ea\u52a8\u6062\u590d\u3002<\/p>\n<p>\u6210\u529f\u53d1\u9001\u4e00\u5e27&#xff1a;<\/p>\n<p>TEC -&#061; 1<\/p>\n<p>\u6700\u4f4e\u4e0d\u4f1a\u4f4e\u4e8e 0\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff0c;\u6210\u529f\u53d1\u9001\u7684\u5b9a\u4e49\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u5f97\u5230 ACK&#xff1b;<\/li>\n<li>\u4e00\u76f4\u5230 EOF \u5b8c\u6210\u4e4b\u524d\u6ca1\u6709\u68c0\u6d4b\u5230\u9519\u8bef\u3002<\/li>\n<\/ul>\n<hr \/>\n<p>\u6210\u529f\u63a5\u6536\u4e00\u5e27&#xff1a;<\/p>\n<p>REC -&#061; 1<\/p>\n<p>\u4f46\u662f REC \u7684\u4e0b\u964d\u6709\u7279\u6b8a\u89c4\u5219&#xff1a;<\/p>\n<p>REC &#061; 0<br \/>\n    \u2193<br \/>\n\u4ecd\u7136\u4fdd\u6301 0<\/p>\n<p>1 \u2264 REC \u2264 127<br \/>\n    \u2193<br \/>\nREC -&#061; 1<\/p>\n<p>REC &gt; 127<br \/>\n    \u2193<br \/>\n\u6210\u529f\u63a5\u6536\u540e<br \/>\n\u8bbe\u7f6e\u5230 119&#xff5e;127 \u8303\u56f4<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u516b\u3001\u56e0\u6b64 TEC\/REC \u66f4\u50cf\u201c\u5386\u53f2\u5065\u5eb7\u5ea6\u201d<\/h2>\n<p>\u4e0d\u8981\u628a TEC\/REC \u7406\u89e3\u6210&#xff1a;<\/p>\n<p>\u201c\u5f53\u524d\u8fd9\u4e00\u6b21\u9519\u8bef\u7684\u6570\u91cf\u3002\u201d<\/p>\n<p>\u66f4\u51c6\u786e\u5730\u8bf4&#xff1a;<\/p>\n<p>TEC\/REC \u662f CAN \u8282\u70b9\u8fd1\u671f\u9519\u8bef\u884c\u4e3a\u7684\u4e00\u79cd\u52a8\u6001\u5386\u53f2\u6307\u6807\u3002<\/p>\n<p>\u5982\u679c\u4e00\u4e2a\u8282\u70b9&#xff1a;<\/p>\n<p>\u5076\u5c14\u9519\u8bef<br \/>\n\u2193<br \/>\n\u4e4b\u540e\u957f\u671f\u6b63\u5e38<br \/>\n\u2193<br \/>\n\u8ba1\u6570\u9010\u6e10\u4e0b\u964d<\/p>\n<p>\u90a3\u4e48 CAN \u4f1a\u8ba4\u4e3a&#xff1a;<\/p>\n<p>\u53ef\u80fd\u53ea\u662f\u4e34\u65f6\u5e72\u6270\u3002<\/p>\n<p>\u5982\u679c\u4e00\u4e2a\u8282\u70b9&#xff1a;<\/p>\n<p>\u6301\u7eed\u51fa\u9519<br \/>\n\u2193<br \/>\n\u9519\u8bef\u589e\u52a0\u901f\u5ea6 &gt; \u6b63\u5e38\u901a\u4fe1\u6062\u590d\u901f\u5ea6<br \/>\n\u2193<br \/>\n\u8ba1\u6570\u8d8a\u6765\u8d8a\u9ad8<\/p>\n<p>CAN \u5c31\u9010\u6e10\u964d\u4f4e\u8fd9\u4e2a\u8282\u70b9\u7684\u201c\u7834\u574f\u80fd\u529b\u201d\u3002<\/p>\n<p>\u8fd9\u5c31\u662f&#xff1a;<\/p>\n<p>Fault Confinement\u3002<\/p>\n<hr \/>\n<h2>\u4e8c\u5341\u4e5d\u3001CAN \u7684\u4e09\u4e2a\u9519\u8bef\u72b6\u6001<\/h2>\n<p>\u6839\u636e\u9519\u8bef\u8ba1\u6570\u5668&#xff0c;CAN \u8282\u70b9\u5b58\u5728\u4e09\u4e2a\u72b6\u6001&#xff1a;<\/p>\n<p>\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n\u2502 Error-Active \u2502<br \/>\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n       \u2193<br \/>\n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n\u2502 Error-Passive\u2502<br \/>\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n       \u2193<br \/>\n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n\u2502   Bus-Off    \u2502<br \/>\n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<\/p>\n<p>\u89c4\u8303\u660e\u786e\u89c4\u5b9a\u8282\u70b9\u7684\u4e09\u79cd\u72b6\u6001\u5c31\u662f&#xff1a;<\/p>\n<ul>\n<li>Error-Active<\/li>\n<li>Error-Passive<\/li>\n<li>Bus-Off<\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e09\u5341\u3001Error-Active \u662f\u4ec0\u4e48&#xff1f;<\/h2>\n<p>\u8fd9\u662f\u6b63\u5e38\u72b6\u6001\u3002<\/p>\n<p>Error-Active \u8282\u70b9&#xff1a;<\/p>\n<ul>\n<li>\u6b63\u5e38\u53c2\u4e0e CAN \u901a\u4fe1&#xff1b;<\/li>\n<li>\u53ef\u4ee5\u53d1\u9001\u6570\u636e&#xff1b;<\/li>\n<li>\u53ef\u4ee5\u63a5\u6536\u6570\u636e&#xff1b;<\/li>\n<li>\u53d1\u73b0\u9519\u8bef\u65f6\u53ef\u4ee5\u53d1\u9001 Active Error Flag\u3002<\/li>\n<\/ul>\n<p>\u4e5f\u5c31\u662f&#xff1a;<\/p>\n<p>\u6b63\u5e38\u901a\u4fe1<br \/>\n&#043;<br \/>\n\u6b63\u5e38\u7ea0\u9519\u80fd\u529b<\/p>\n<p>Active Error Flag&#xff1a;<\/p>\n<p>000000<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u4e00\u3001\u4ec0\u4e48\u65f6\u5019\u8fdb\u5165 Error-Passive&#xff1f;<\/h2>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff1a;<\/p>\n<p>\u5982\u679c TEC \u6216 REC \u8d85\u8fc7 127&#xff0c;\u5219\u8282\u70b9\u8fdb\u5165 Error-Passive\u3002<\/p>\n<p>\u4e5f\u5c31\u662f&#xff1a;<\/p>\n<p>TEC &gt; 127<br \/>\n       OR<br \/>\nREC &gt; 127<br \/>\n       \u2193<br \/>\nError-Passive<\/p>\n<p>\u6ce8\u610f\u8fd9\u91cc\u662f&#xff1a;<\/p>\n<p>\u5927\u4e8e 127<\/p>\n<p>\u800c\u4e0d\u662f\u201c\u8fbe\u5230 127\u201d\u3002<\/p>\n<p>\u56e0\u6b64\u5de5\u7a0b\u4e0a\u5e38\u8bf4&#xff1a;<\/p>\n<p>Error Passive threshold &#061; 128<\/p>\n<p>\u662f\u4e3a\u4e86\u65b9\u4fbf\u7406\u89e3&#xff0c;\u4f46\u89c4\u8303\u672c\u8eab\u7684\u8868\u8fbe\u662f&#xff1a;<\/p>\n<p>counter exceeds 127\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u4e8c\u3001\u8fdb\u5165 Error-Passive \u65f6\u6709\u4ec0\u4e48\u7279\u522b\u7684\u5730\u65b9&#xff1f;<\/h2>\n<p>\u8fd9\u91cc\u6709\u4e00\u4e2a\u5f88\u5bb9\u6613\u5ffd\u7565\u7684\u7ec6\u8282\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff1a;<\/p>\n<p>\u5bfc\u81f4\u8282\u70b9\u8fdb\u5165 Error-Passive \u7684\u90a3\u4e2a\u9519\u8bef\u6761\u4ef6&#xff0c;\u4f1a\u4f7f\u8282\u70b9\u53d1\u9001 Active Error Flag\u3002<\/p>\n<p>\u4e5f\u5c31\u662f\u8bf4&#xff1a;<\/p>\n<p>\u539f\u672c&#xff1a;<\/p>\n<p>Error-Active<\/p>\n<p>\u53d1\u751f\u4e00\u6b21\u9519\u8bef<br \/>\n\u2193<br \/>\n\u8ba1\u6570\u5668\u8d85\u8fc7 127<br \/>\n\u2193<br \/>\n\u72b6\u6001\u53d8\u6210 Error-Passive<\/p>\n<p>\u4f46&#xff1a;<\/p>\n<p>\u8fd9\u4e2a\u5bfc\u81f4\u72b6\u6001\u53d8\u5316\u7684\u9519\u8bef\u672c\u8eab\u4ecd\u7136\u4f1a\u89e6\u53d1 Active Error Flag\u3002<\/p>\n<p>\u6240\u4ee5\u4e0d\u80fd\u7b80\u5355\u7406\u89e3\u6210&#xff1a;<\/p>\n<p>TEC&#061;128<br \/>\n\u2193<br \/>\n\u7acb\u523b\u4ee5\u540e\u53ea\u80fd\u53d1 Passive Error Flag<\/p>\n<p>\u72b6\u6001\u8f6c\u6362\u53d1\u751f\u5728\u5177\u4f53\u9519\u8bef\u5904\u7406\u6d41\u7a0b\u4e2d&#xff0c;\u9700\u8981\u7ed3\u5408\u8be5\u6b21\u9519\u8bef\u7684\u5904\u7406\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u4e09\u3001Error-Passive \u4ee5\u540e\u6709\u4ec0\u4e48\u53d8\u5316&#xff1f;<\/h2>\n<p>\u6700\u5927\u7684\u53d8\u5316\u5c31\u662f&#xff1a;<\/p>\n<p>\u4e0d\u80fd\u518d\u53d1\u9001 Active Error Flag<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>Passive Error Flag<\/p>\n<p>111111<\/p>\n<p>\u4e5f\u5c31\u662f&#xff1a;<\/p>\n<p>6 \u4e2a Recessive\u3002<\/p>\n<p>\u53e6\u5916&#xff1a;<\/p>\n<p>\u5982\u679c Error-Passive \u8282\u70b9\u521a\u521a\u4f5c\u4e3a\u53d1\u9001\u8005\u53d1\u9001\u5b8c\u4e00\u5e27&#xff0c;\u5b83\u8fd8\u5fc5\u987b\u589e\u52a0 Suspend Transmission \u65f6\u95f4\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff1a;<\/p>\n<p>Intermission<br \/>\n&#043;<br \/>\n8 bit times suspend transmission<\/p>\n<p>\u4e4b\u540e\u624d\u80fd\u5f00\u59cb\u65b0\u7684\u53d1\u9001\u3002<\/p>\n<p>\u8fd9\u8fdb\u4e00\u6b65\u964d\u4f4e\u4e86\u4e00\u4e2a\u9519\u8bef\u8282\u70b9\u5bf9\u603b\u7ebf\u7684\u5f71\u54cd\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u56db\u3001Error-Passive \u4f1a\u4e0d\u4f1a\u6c38\u8fdc\u6062\u590d\u4e0d\u4e86&#xff1f;<\/h2>\n<p>\u4e0d\u4f1a\u3002<\/p>\n<p>\u5982\u679c\u9519\u8bef\u53ea\u662f\u6682\u65f6\u7684&#xff0c;TEC\/REC \u4f1a\u968f\u7740\u6210\u529f\u901a\u4fe1\u9010\u6e10\u4e0b\u964d\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff1a;<\/p>\n<p>Error-Passive \u8282\u70b9\u53ea\u6709\u5728 TEC \u548c REC \u90fd \u2264127 \u65f6&#xff0c;\u624d\u80fd\u91cd\u65b0\u8fdb\u5165 Error-Active\u3002<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>TEC \u2264 127<br \/>\nAND<br \/>\nREC \u2264 127<br \/>\n       \u2193<br \/>\nError-Active<\/p>\n<p>\u6ce8\u610f&#xff1a;<\/p>\n<p>\u5fc5\u987b\u4e24\u4e2a\u8ba1\u6570\u5668\u90fd\u6ee1\u8db3\u6761\u4ef6\u3002<\/p>\n<p>\u4e0d\u662f&#xff1a;<\/p>\n<p>TEC \u2264127<\/p>\n<p>\u5c31\u6062\u590d\u3002<\/p>\n<p>\u4e5f\u4e0d\u662f&#xff1a;<\/p>\n<p>REC \u2264127<\/p>\n<p>\u5c31\u6062\u590d\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u4e94\u3001Bus-Off \u662f\u4ec0\u4e48&#xff1f;<\/h2>\n<p>\u5982\u679c&#xff1a;<\/p>\n<p>TEC &gt; 255<\/p>\n<p>CAN \u8282\u70b9\u8fdb\u5165&#xff1a;<\/p>\n<p>Bus-Off<\/p>\n<p>\u8fd9\u662f\u6bd4 Error-Passive \u66f4\u4e25\u91cd\u7684\u72b6\u6001\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff0c;TEC \u8d85\u8fc7 255 \u540e&#xff0c;Fault Confinement Supervisor \u8bf7\u6c42\u7269\u7406\u5c42\u628a\u8282\u70b9\u5207\u6362\u5230 Bus-Off\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u516d\u3001Bus-Off \u548c Error-Passive \u7684\u6839\u672c\u533a\u522b<\/h2>\n<p>\u53ef\u4ee5\u8fd9\u6837\u7406\u89e3&#xff1a;<\/p>\n<h4>Error-Active<\/h4>\n<p>\u6211\u6b63\u5e38\u5de5\u4f5c<br \/>\n\u53d1\u73b0\u9519\u8bef<br \/>\n\u2192 \u6211\u53ef\u4ee5\u4e3b\u52a8\u7834\u574f\u9519\u8bef\u5e27<\/p>\n<h4>Error-Passive<\/h4>\n<p>\u6211\u6700\u8fd1\u7ecf\u5e38\u51fa\u9519<br \/>\n\u2193<br \/>\n\u6211\u8fd8\u53ef\u4ee5\u901a\u4fe1<br \/>\n\u2193<br \/>\n\u4f46\u6211\u4e0d\u80fd\u4e3b\u52a8\u7834\u574f\u603b\u7ebf<\/p>\n<h4>Bus-Off<\/h4>\n<p>\u6211\u5df2\u7ecf\u4e25\u91cd\u5230\u4e0d\u80fd\u7ee7\u7eed\u53c2\u4e0e\u603b\u7ebf<br \/>\n\u2193<br \/>\n\u5f7b\u5e95\u9000\u51fa<\/p>\n<p>\u89c4\u8303\u5bf9 Bus-Off \u7684\u5b9a\u4e49\u975e\u5e38\u4e25\u683c&#xff1a;<\/p>\n<p>Bus-Off \u8282\u70b9\u5bf9\u603b\u7ebf\u6ca1\u6709\u5f71\u54cd\u3002<\/p>\n<p>\u5b83&#xff1a;<\/p>\n<ul>\n<li>\u4e0d\u53d1\u9001\u5e27&#xff1b;<\/li>\n<li>\u4e0d\u53d1\u9001 ACK&#xff1b;<\/li>\n<li>\u4e0d\u4ea7\u751f Dominant bit&#xff1b;<\/li>\n<li>\u903b\u8f91\u4e0a\u4ece\u603b\u7ebf\u65ad\u5f00\u3002<\/li>\n<\/ul>\n<hr \/>\n<h2>\u4e09\u5341\u4e03\u3001\u4e3a\u4ec0\u4e48 Bus-Off \u8981\u8fd9\u4e48\u72e0&#xff1f;<\/h2>\n<p>\u5047\u8bbe\u4e00\u4e2a ECU \u7684 CAN \u6536\u53d1\u5668\u6216\u8005\u63a7\u5236\u5668\u51fa\u4e86\u4e25\u91cd\u95ee\u9898&#xff1a;<\/p>\n<p>\u4e00\u76f4\u53d1\u9001\u9519\u8bef<br \/>\n\u4e00\u76f4\u53d1\u9001 Error Flag<br \/>\n\u4e00\u76f4\u7834\u574f\u522b\u4eba\u6570\u636e<\/p>\n<p>\u5982\u679c CAN \u6ca1\u6709 Bus-Off&#xff1a;<\/p>\n<p>\u574f\u8282\u70b9<br \/>\n  \u2193<br \/>\n\u6301\u7eed\u5236\u9020\u9519\u8bef<br \/>\n  \u2193<br \/>\n\u6240\u6709\u8282\u70b9\u4e0d\u65ad\u91cd\u4f20<br \/>\n  \u2193<br \/>\n\u6574\u4e2a CAN \u7f51\u7edc\u762b\u75ea<\/p>\n<p>CAN \u7684\u8bbe\u8ba1\u9009\u62e9\u662f&#xff1a;<\/p>\n<p>\u9519\u8bef\u5c11&#xff1a;<br \/>\n\u6b63\u5e38\u53c2\u4e0e<\/p>\n<p>\u9519\u8bef\u591a&#xff1a;<br \/>\n\u964d\u4f4e\u9519\u8bef\u5f71\u54cd<\/p>\n<p>\u9519\u8bef\u975e\u5e38\u591a&#xff1a;<br \/>\n\u76f4\u63a5\u9000\u51fa\u603b\u7ebf<\/p>\n<p>\u8fd9\u5c31\u662f Fault Confinement \u7684\u6838\u5fc3\u3002<\/p>\n<p>ISO 11898-1 \u660e\u786e\u628a Fault Confinement \u7684\u76ee\u6807\u5b9a\u4e49\u4e3a&#xff1a;<\/p>\n<p>\u5373\u4f7f\u5b58\u5728\u6545\u969c\u8282\u70b9&#xff0c;\u4e5f\u5c3d\u91cf\u4fdd\u6301\u6570\u636e\u4f20\u8f93\u7f51\u7edc\u7684\u9ad8\u53ef\u7528\u6027&#xff0c;\u540c\u65f6\u533a\u5206\u4e34\u65f6\u9519\u8bef\u548c\u6c38\u4e45\u6545\u969c&#xff0c;\u5e76\u5b9a\u4f4d\u3001\u5173\u95ed\u6545\u969c\u8282\u70b9\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u516b\u3001Bus-Off \u540e\u662f\u4e0d\u662f\u81ea\u52a8\u9a6c\u4e0a\u6062\u590d&#xff1f;<\/h2>\n<p>\u8fd9\u91cc\u4e00\u5b9a\u8981\u6ce8\u610f&#xff1a;<\/p>\n<p>\u4e0d\u662f\u7b80\u5355\u7684\u201cTEC \u964d\u5230 255 \u4ee5\u4e0b\u5c31\u81ea\u52a8\u6062\u590d\u201d\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff1a;<\/p>\n<p>Bus-Off \u8282\u70b9\u5728\u6536\u5230 Restart Request \u540e\u8fdb\u5165 Bus Integration \u72b6\u6001\u3002<\/p>\n<p>\u7136\u540e\u5b83\u5fc5\u987b\u76d1\u89c6\u603b\u7ebf\u4e0a\u7684&#xff1a;<\/p>\n<p>128 \u6b21 Idle Condition<\/p>\n<p>\u4e4b\u540e\u624d\u53ef\u4ee5\u91cd\u65b0\u6210\u4e3a Error-Active&#xff0c;\u5e76\u4e14&#xff1a;<\/p>\n<p>TEC &#061; 0<br \/>\nREC &#061; 0<\/p>\n<hr \/>\n<h2>\u4e09\u5341\u4e5d\u3001\u4ec0\u4e48\u53eb\u4e00\u6b21 Idle Condition&#xff1f;<\/h2>\n<p>ISO 11898-1 \u5c06 Idle Condition \u5b9a\u4e49\u4e3a&#xff1a;<\/p>\n<p>\u68c0\u6d4b\u5230\u8fde\u7eed 11 \u4e2a Recessive bits\u3002<\/p>\n<p>\u4e5f\u5c31\u662f\u8bf4&#xff1a;<\/p>\n<p>11111111111<\/p>\n<p>\u5c31\u662f\u4e00\u6b21 Idle Condition\u3002<\/p>\n<p>\u6240\u4ee5 Bus-Off Recovery \u7684\u6838\u5fc3\u4e0d\u662f&#xff1a;<\/p>\n<p>\u7b49\u4e00\u6bb5\u56fa\u5b9a\u65f6\u95f4<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u7b49\u5f85\u5e76\u89c2\u5bdf\u603b\u7ebf<br \/>\n        \u2193<br \/>\n\u68c0\u6d4b 11 \u4e2a\u8fde\u7eed Recessive<br \/>\n        \u2193<br \/>\n\u8bb0\u4e3a\u4e00\u6b21 Idle Condition<br \/>\n        \u2193<br \/>\n\u7ee7\u7eed\u89c2\u5bdf<br \/>\n        \u2193<br \/>\n\u7d2f\u8ba1 128 \u6b21<br \/>\n        \u2193<br \/>\n\u6062\u590d<\/p>\n<hr \/>\n<h2>\u56db\u5341\u3001\u56e0\u6b64 Bus-Off Recovery \u5b9e\u9645\u4e0a\u662f\u4e00\u4e2a\u201c\u89c2\u5bdf\u671f\u201d<\/h2>\n<p>\u53ef\u4ee5\u753b\u6210&#xff1a;<\/p>\n<p>BUS-OFF<br \/>\n   \u2502<br \/>\n   \u2502 Restart Request<br \/>\n   \u2193<br \/>\nBus Integration<br \/>\n   \u2502<br \/>\n   \u251c\u2500\u2500 11 Recessive \u2192 Idle #1<br \/>\n   \u2502<br \/>\n   \u251c\u2500\u2500 11 Recessive \u2192 Idle #2<br \/>\n   \u2502<br \/>\n   \u251c\u2500\u2500 11 Recessive \u2192 Idle #3<br \/>\n   \u2502<br \/>\n   \u2502       &#8230;<br \/>\n   \u2502<br \/>\n   \u251c\u2500\u2500 11 Recessive \u2192 Idle #128<br \/>\n   \u2502<br \/>\n   \u2193<br \/>\nTEC &#061; 0<br \/>\nREC &#061; 0<br \/>\n   \u2193<br \/>\nERROR-ACTIVE<\/p>\n<p>\u5982\u679c\u5728 Integration \u8fc7\u7a0b\u4e2d\u603b\u7ebf\u518d\u6b21\u51fa\u73b0 Dominant&#xff1a;<\/p>\n<p>\u5f53\u524d\u8fde\u7eed Recessive \u8ba1\u6570<br \/>\n        \u2193<br \/>\n\u91cd\u65b0\u5f00\u59cb<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff0c;Bus Integration \u72b6\u6001\u4e2d\u7684 bit counter \u5728\u68c0\u6d4b\u5230 Dominant \u65f6\u590d\u4f4d&#xff0c;\u8fde\u7eed\u68c0\u6d4b\u5230 11 \u4e2a Recessive \u624d\u5f62\u6210 Idle Condition\u3002<\/p>\n<hr \/>\n<h2>\u56db\u5341\u4e00\u3001\u628a\u6574\u4e2a\u9519\u8bef\u5904\u7406\u8fc7\u7a0b\u4e32\u8d77\u6765<\/h2>\n<p>\u73b0\u5728\u628a\u524d\u9762\u6240\u6709\u673a\u5236\u8fde\u8d77\u6765\u3002<\/p>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<p>A &#061; Transmitter<br \/>\nB\/C\/D &#061; Receivers<\/p>\n<p>A \u6b63\u5728\u53d1\u9001&#xff1a;<\/p>\n<p>CAN Data Frame<\/p>\n<hr \/>\n<h3>\u7b2c\u4e00\u6b65&#xff1a;A\u3001B\u3001C\u3001D \u90fd\u5728\u68c0\u67e5<\/h3>\n<p>A&#xff1a;<br \/>\n\u76d1\u89c6\u81ea\u5df1\u53d1\u9001\u7684 bit<\/p>\n<p>B&#xff1a;<br \/>\n\u68c0\u67e5\u5e27\u683c\u5f0f \/ Stuff \/ CRC \u7b49<\/p>\n<p>C&#xff1a;<br \/>\n\u68c0\u67e5\u5e27\u683c\u5f0f \/ Stuff \/ CRC \u7b49<\/p>\n<p>D&#xff1a;<br \/>\n\u68c0\u67e5\u5e27\u683c\u5f0f \/ Stuff \/ CRC \u7b49<\/p>\n<hr \/>\n<h3>\u7b2c\u4e8c\u6b65&#xff1a;\u67d0\u4e00\u4e2a\u8282\u70b9\u53d1\u73b0\u9519\u8bef<\/h3>\n<p>\u53ef\u80fd\u662f&#xff1a;<\/p>\n<p>A \u2192 Bit Error \/ ACK Error<\/p>\n<p>B \u2192 Stuff Error \/ CRC Error \/ Form Error<\/p>\n<p>C \u2192 Stuff Error \/ CRC Error \/ Form Error<\/p>\n<hr \/>\n<h3>\u7b2c\u4e09\u6b65&#xff1a;\u53d1\u73b0\u9519\u8bef\u7684\u8282\u70b9\u4ea7\u751f Error Flag<\/h3>\n<p>Error-Active&#xff1a;<\/p>\n<p>000000<\/p>\n<p>Error-Passive&#xff1a;<\/p>\n<p>111111<\/p>\n<hr \/>\n<h3>\u7b2c\u56db\u6b65&#xff1a;Error Flag \u4f20\u64ad\u5230\u6574\u4e2a\u603b\u7ebf<\/h3>\n<p>Active Error Flag \u7684 Dominant bits \u4f1a\u7834\u574f\u6b63\u5e38\u5e27\u3002<\/p>\n<p>\u5176\u4ed6\u8282\u70b9\u4e5f\u53ef\u80fd\u68c0\u6d4b\u5230\u9519\u8bef\u3002<\/p>\n<p>\u4e8e\u662f&#xff1a;<\/p>\n<p>A \u2500\u2500 Error Flag<br \/>\nB \u2500\u2500\u2500\u2500 Error Flag<br \/>\nC \u2500\u2500\u2500\u2500\u2500\u2500 Error Flag<\/p>\n<p>\u6700\u7ec8\u603b\u7ebf\u53ef\u80fd\u770b\u5230&#xff1a;<\/p>\n<p>0000000000&#8230;<\/p>\n<p>\u5b9e\u9645\u8fde\u7eed Dominant \u957f\u5ea6\u53ef\u80fd\u4e3a&#xff1a;<\/p>\n<p>6&#xff5e;12 bit<\/p>\n<hr \/>\n<h2>\u56db\u5341\u4e8c\u3001\u7b2c\u4e94\u6b65&#xff1a;Error Delimiter<\/h2>\n<p>Error Flag \u7ed3\u675f\u540e&#xff1a;<\/p>\n<p>11111111<\/p>\n<p>\u5373&#xff1a;<\/p>\n<p>8 \u4e2a Recessive\u3002<\/p>\n<p>\u8fdb\u5165\u9519\u8bef\u5b9a\u754c\u9636\u6bb5\u3002<\/p>\n<hr \/>\n<h2>\u56db\u5341\u4e09\u3001\u7b2c\u516d\u6b65&#xff1a;\u539f\u6765\u7684\u5e27\u88ab\u653e\u5f03<\/h2>\n<p>\u8fd9\u4e2a\u65f6\u5019&#xff1a;<\/p>\n<p>\u539f\u6765\u7684 CAN Frame<br \/>\n        \u2193<br \/>\n\u65e0\u6548<br \/>\n        \u2193<br \/>\n\u4e0d\u4f1a\u4ea4\u7ed9\u4e0a\u5c42\u4f5c\u4e3a\u6709\u6548\u6570\u636e<\/p>\n<p>\u7136\u540e\u6309\u7167 Recovery Management&#xff1a;<\/p>\n<p>\u91cd\u65b0\u53d1\u9001<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a&#xff0c;\u88ab\u9519\u8bef\u7834\u574f\u3001\u6ca1\u6709 ACK \u6216\u4e22\u5931\u4ef2\u88c1\u7684\u5e27\u53ef\u4ee5\u81ea\u52a8\u91cd\u65b0\u53c2\u4e0e\u53d1\u9001\u3002<\/p>\n<hr \/>\n<h2>\u56db\u5341\u56db\u3001\u7b2c\u4e03\u6b65&#xff1a;\u9519\u8bef\u8ba1\u6570\u5668\u53d1\u751f\u53d8\u5316<\/h2>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<h4>\u53d1\u9001\u8282\u70b9\u4ea7\u751f Error Flag<\/h4>\n<p>\u901a\u5e38&#xff1a;<\/p>\n<p>TEC &#043;&#061; 8<\/p>\n<h4>\u63a5\u6536\u8282\u70b9\u53d1\u73b0\u9519\u8bef<\/h4>\n<p>\u901a\u5e38&#xff1a;<\/p>\n<p>REC &#043;&#061; 1<\/p>\n<h4>\u63a5\u6536\u8282\u70b9\u5728 Error Flag \u540e\u68c0\u6d4b\u5230\u7b2c\u4e00\u4e2a Dominant<\/h4>\n<p>REC &#043;&#061; 8<\/p>\n<h4>\u6210\u529f\u53d1\u9001<\/h4>\n<p>TEC -&#061; 1<\/p>\n<h4>\u6210\u529f\u63a5\u6536<\/h4>\n<p>REC -&#061; 1<\/p>\n<p>\u5177\u4f53\u7279\u6b8a\u60c5\u51b5\u4ecd\u5fc5\u987b\u6309\u7167 ISO 11898-1 \u7684\u9519\u8bef\u8ba1\u6570\u89c4\u5219\u5904\u7406\u3002<\/p>\n<hr \/>\n<h2>\u56db\u5341\u4e94\u3001\u6700\u7ec8\u5f62\u6210\u4e09\u4e2a\u72b6\u6001<\/h2>\n<p>             \u6b63\u5e38<br \/>\n              \u2502<br \/>\n              \u25bc<br \/>\n       \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n       \u2502 Error-Active\u2502<br \/>\n       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n              \u2502<br \/>\n       TEC &gt;127<br \/>\n       \u6216 REC &gt;127<br \/>\n              \u2502<br \/>\n              \u25bc<br \/>\n       \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n       \u2502Error-Passive\u2502<br \/>\n       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n              \u2502<br \/>\n           TEC &gt;255<br \/>\n              \u2502<br \/>\n              \u25bc<br \/>\n       \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n       \u2502   Bus-Off   \u2502<br \/>\n       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<\/p>\n<p>\u6062\u590d\u65b9\u5411&#xff1a;<\/p>\n<p>Error-Passive<br \/>\n      \u2502<br \/>\nTEC \u2264127<br \/>\nAND<br \/>\nREC \u2264127<br \/>\n      \u2193<br \/>\nError-Active<\/p>\n<p>Bus-Off&#xff1a;<\/p>\n<p>Bus-Off<br \/>\n  \u2502<br \/>\nRestart Request<br \/>\n  \u2193<br \/>\nIntegration<br \/>\n  \u2502<br \/>\n128 \u00d7 Idle Condition<br \/>\n  \u2193<br \/>\nTEC&#061;0, REC&#061;0<br \/>\n  \u2193<br \/>\nError-Active<\/p>\n<hr \/>\n<h2>\u56db\u5341\u516d\u3001\u4e00\u4e2a\u975e\u5e38\u91cd\u8981\u7684\u5de5\u7a0b\u8bef\u533a&#xff1a;REC \u9ad8\u4e0d\u4e00\u5b9a\u8bf4\u660e\u8fd9\u4e2a ECU \u574f\u4e86<\/h2>\n<p>\u8fd9\u662f\u5b9e\u9645\u7ef4\u4fee\u548c CAN \u5206\u6790\u4e2d\u975e\u5e38\u91cd\u8981\u7684\u4e00\u70b9\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\u603b\u7ebf\u7269\u7406\u5c42\u53d7\u5230\u4e25\u91cd\u5e72\u6270<\/p>\n<p>\u53ef\u80fd\u5bfc\u81f4&#xff1a;<\/p>\n<p>A&#xff1a;REC \u2191<br \/>\nB&#xff1a;REC \u2191<br \/>\nC&#xff1a;REC \u2191<br \/>\nD&#xff1a;REC \u2191<\/p>\n<p>\u8fd9\u5e76\u4e0d\u610f\u5473\u7740&#xff1a;<\/p>\n<p>A\u574f\u4e86<br \/>\nB\u574f\u4e86<br \/>\nC\u574f\u4e86<br \/>\nD\u574f\u4e86<\/p>\n<p>\u800c\u53ef\u80fd\u662f&#xff1a;<\/p>\n<p>CANH\/CANL<br \/>\n\u7ec8\u7aef\u7535\u963b<br \/>\n\u63a5\u63d2\u4ef6<br \/>\n\u7535\u78c1\u5e72\u6270<br \/>\n\u65f6\u5e8f\u95ee\u9898<br \/>\n\u6536\u53d1\u5668<\/p>\n<p>\u7b49\u603b\u7ebf\u5c42\u9762\u7684\u5171\u540c\u95ee\u9898\u3002<\/p>\n<p>\u56e0\u6b64&#xff1a;<\/p>\n<p>REC \u662f\u201c\u8282\u70b9\u89c2\u5bdf\u5230\u7684\u63a5\u6536\u9519\u8bef\u5386\u53f2\u201d&#xff0c;\u4e0d\u662f ECU \u6545\u969c\u8bca\u65ad\u7ed3\u8bba\u3002<\/p>\n<p>\u540c\u6837&#xff1a;<\/p>\n<p>TEC \u9ad8\u4e5f\u4e0d\u80fd\u4ec5\u51ed\u8fd9\u4e00\u70b9\u76f4\u63a5\u5224\u65ad ECU \u4e00\u5b9a\u786c\u4ef6\u635f\u574f\u3002<\/p>\n<p>\u5fc5\u987b\u7ed3\u5408\u9519\u8bef\u7c7b\u578b\u3001\u9519\u8bef\u51fa\u73b0\u4f4d\u7f6e\u3001\u603b\u7ebf\u6ce2\u5f62\u3001\u5176\u4ed6\u8282\u70b9\u72b6\u6001\u7b49\u4fe1\u606f\u5224\u65ad\u3002<\/p>\n<hr \/>\n<h2>\u56db\u5341\u4e03\u3001\u518d\u770b\u4e00\u4e2a\u975e\u5e38\u5178\u578b\u7684 ACK Error<\/h2>\n<p>\u5047\u8bbe&#xff1a;<\/p>\n<p>A &#061; \u552f\u4e00\u5728\u7ebf\u8282\u70b9<\/p>\n<p>A \u53d1\u9001&#xff1a;<\/p>\n<p>SOF<br \/>\nID<br \/>\n&#8230;<br \/>\nCRC<br \/>\nACK Slot<br \/>\nEOF<\/p>\n<p>ACK Slot&#xff1a;<\/p>\n<p>A\u53d1\u9001&#xff1a;Recessive<br \/>\n\u5176\u4ed6\u8282\u70b9&#xff1a;\u6ca1\u6709<br \/>\n\u603b\u7ebf&#xff1a;Recessive<\/p>\n<p>A&#xff1a;<\/p>\n<p>\u6ca1\u6709\u68c0\u6d4b\u5230 Dominant<br \/>\n\u2193<br \/>\nACK Error<br \/>\n\u2193<br \/>\nError Flag<br \/>\n\u2193<br \/>\nTEC \u6309\u89c4\u5219\u589e\u52a0<br \/>\n\u2193<br \/>\n\u81ea\u52a8\u91cd\u4f20<\/p>\n<p>\u4e8e\u662f\u53ef\u80fd\u51fa\u73b0&#xff1a;<\/p>\n<p>A\u53d1\u9001<br \/>\n\u2193<br \/>\nACK Error<br \/>\n\u2193<br \/>\n\u91cd\u4f20<br \/>\n\u2193<br \/>\nACK Error<br \/>\n\u2193<br \/>\n\u91cd\u4f20<br \/>\n\u2193<br \/>\n&#8230;<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>CAN \u603b\u7ebf\u4e0a\u4e00\u4e2a\u8282\u70b9\u72ec\u81ea\u5de5\u4f5c\u65f6&#xff0c;\u5b83\u7684 CAN \u63a7\u5236\u5668\u51fa\u73b0 ACK Error \u662f\u6b63\u5e38\u7684\u534f\u8bae\u7ed3\u679c&#xff0c;\u5e76\u4e0d\u80fd\u76f4\u63a5\u8bf4\u660e\u53d1\u9001\u5668\u574f\u4e86\u3002<\/p>\n<p>\u89c4\u8303\u7684 Network Start-up \u90e8\u5206\u660e\u786e\u8003\u8651\u4e86\u53ea\u6709\u4e00\u4e2a\u8282\u70b9\u5728\u7ebf\u800c\u6ca1\u6709 ACK \u7684\u60c5\u51b5\u3002<\/p>\n<hr \/>\n<h2>\u56db\u5341\u516b\u3001Error Flag \u548c Overload Flag \u4e0d\u8981\u6df7\u6dc6<\/h2>\n<p>CAN \u8fd8\u6709&#xff1a;<\/p>\n<p>Overload Frame<\/p>\n<p>\u5373&#xff1a;<\/p>\n<p>Overload Frame \/ OF<\/p>\n<p>\u5b83\u4e0d\u662f Error Frame\u3002<\/p>\n<p>\u4e8c\u8005\u867d\u7136\u5f62\u5f0f\u975e\u5e38\u76f8\u4f3c&#xff1a;<\/p>\n<p>Overload Flag<br \/>\n&#061; 6 Dominant<\/p>\n<p>Error Active Flag<br \/>\n&#061; 6 Dominant<\/p>\n<p>\u4f46\u542b\u4e49\u4e0d\u540c\u3002<\/p>\n<h4>Error Frame&#xff1a;<\/h4>\n<p>\u8868\u793a&#xff1a;<\/p>\n<p>\u68c0\u6d4b\u5230\u4e86\u9519\u8bef\u3002<\/p>\n<h4>Overload Frame&#xff1a;<\/h4>\n<p>\u8868\u793a&#xff1a;<\/p>\n<p>\u9700\u8981\u989d\u5916\u5ef6\u8fdf\u4e0b\u4e00\u5e27\u3002<\/p>\n<p>\u89c4\u8303\u89c4\u5b9a Overload Frame \u7528\u4e8e\u63d0\u4f9b\u989d\u5916\u5ef6\u8fdf&#xff1b;\u5b83\u53ef\u4ee5\u7531 LLC \u5185\u90e8\u6761\u4ef6\u8bf7\u6c42&#xff0c;\u4e5f\u53ef\u4ee5\u7531 MAC \u5728\u7279\u5b9a\u60c5\u51b5\u4e0b\u4ea7\u751f Reactive Overload\u3002<\/p>\n<p>\u6240\u4ee5&#xff1a;<\/p>\n<p>Error Frame<br \/>\n\u2260<br \/>\nOverload Frame<\/p>\n<p>\u867d\u7136\u5728\u603b\u7ebf\u4e0a\u90fd\u53ef\u80fd\u770b\u5230&#xff1a;<\/p>\n<p>000000<\/p>\n<hr \/>\n<h2>\u56db\u5341\u4e5d\u3001\u4e3a\u4ec0\u4e48 CAN \u7684\u9519\u8bef\u6062\u590d\u8fd9\u4e48\u5feb&#xff1f;<\/h2>\n<p>\u89c4\u8303\u7ed9\u51fa\u4e86\u4e00\u4e2a\u975e\u5e38\u6709\u610f\u4e49\u7684\u6307\u6807&#xff1a;<\/p>\n<p>\u5982\u679c\u540e\u7eed\u4e0d\u518d\u53d1\u751f\u9519\u8bef&#xff0c;\u4ece\u68c0\u6d4b\u9519\u8bef\u5230\u53ef\u80fd\u5f00\u59cb\u4e0b\u4e00\u5e27&#xff1a;<\/p>\n<p>\u901a\u5e38\u7ea6 17&#xff5e;23 \u4e2a nominal bit times<\/p>\n<p>\u5bf9\u4e8e Error-Passive \u8282\u70b9&#xff1a;<\/p>\n<p>\u6700\u591a\u7ea6 31 \u4e2a nominal bit times<\/p>\n<p>\u8fd9\u8bf4\u660e CAN \u7684\u9519\u8bef\u5904\u7406\u4e0d\u662f&#xff1a;<\/p>\n<p>\u53d1\u751f\u9519\u8bef<br \/>\n\u2193<br \/>\n\u7b49\u5f85\u5f88\u4e45<br \/>\n\u2193<br \/>\n\u91cd\u65b0\u521d\u59cb\u5316<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u53d1\u73b0\u9519\u8bef<br \/>\n\u2193<br \/>\n\u7acb\u5373\u7834\u574f\u9519\u8bef\u5e27<br \/>\n\u2193<br \/>\nError Delimiter<br \/>\n\u2193<br \/>\n\u91cd\u65b0\u4ef2\u88c1<br \/>\n\u2193<br \/>\n\u91cd\u65b0\u53d1\u9001<\/p>\n<p>\u6574\u4e2a\u8fc7\u7a0b\u975e\u5e38\u77ed\u3002<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u3001CAN \u9519\u8bef\u673a\u5236\u771f\u6b63\u5389\u5bb3\u7684\u5730\u65b9\u5728\u54ea\u91cc&#xff1f;<\/h2>\n<p>\u5982\u679c\u53ea\u770b&#xff1a;<\/p>\n<p>Bit Error<br \/>\nCRC<br \/>\nError Flag<br \/>\nTEC<br \/>\nREC<br \/>\nBus-Off<\/p>\n<p>\u5f88\u5bb9\u6613\u8ba4\u4e3a\u8fd9\u4e9b\u53ea\u662f\u4e00\u4e9b\u96f6\u6563\u89c4\u5219\u3002<\/p>\n<p>\u5b9e\u9645\u4e0a\u5b83\u4eec\u662f\u4e00\u5957\u5b8c\u6574\u7684\u7cfb\u7edf\u3002<\/p>\n<p>\u53ef\u4ee5\u628a CAN \u7684\u9519\u8bef\u5904\u7406\u5206\u6210\u4e94\u5c42&#xff1a;<\/p>\n<p>\u7b2c\u4e00\u5c42<br \/>\n\u9519\u8bef\u68c0\u6d4b<br \/>\n\u2193<br \/>\n\u201c\u6211\u53d1\u73b0\u8fd9\u91cc\u4e0d\u5bf9\u201d<\/p>\n<p>\u7b2c\u4e8c\u5c42<br \/>\n\u9519\u8bef\u4fe1\u53f7<br \/>\n\u2193<br \/>\n\u201c\u8fd9\u5e27\u4e0d\u80fd\u7ee7\u7eed\u4e86\u201d<\/p>\n<p>\u7b2c\u4e09\u5c42<br \/>\n\u9519\u8bef\u6062\u590d<br \/>\n\u2193<br \/>\n\u201c\u8fd9\u5e27\u91cd\u65b0\u53d1\u9001\u201d<\/p>\n<p>\u7b2c\u56db\u5c42<br \/>\n\u9519\u8bef\u7edf\u8ba1<br \/>\n\u2193<br \/>\n\u201c\u8fd9\u4e2a\u8282\u70b9\u6700\u8fd1\u5230\u5e95\u51fa\u4e86\u591a\u5c11\u95ee\u9898&#xff1f;\u201d<\/p>\n<p>\u7b2c\u4e94\u5c42<br \/>\n\u6545\u969c\u9694\u79bb<br \/>\n\u2193<br \/>\n\u201c\u5982\u679c\u4f60\u4e00\u76f4\u51fa\u95ee\u9898&#xff0c;\u5c31\u9650\u5236\u4f60&#xff0c;<br \/>\n\u751a\u81f3\u628a\u4f60\u8e22\u51fa\u603b\u7ebf\u3002\u201d<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u4e00\u3001\u8fd9\u5c31\u662f CAN \u7684\u5de5\u7a0b\u54f2\u5b66<\/h2>\n<p>ISO 11898-1 \u5bf9 Fault Confinement \u7684\u63cf\u8ff0\u5b9e\u9645\u4e0a\u4f53\u73b0\u4e86 CAN \u6700\u6838\u5fc3\u7684\u8bbe\u8ba1\u601d\u60f3&#xff1a;<\/p>\n<p>\u533a\u5206\u4e34\u65f6\u9519\u8bef\u548c\u6c38\u4e45\u6545\u969c\u3002<\/p>\n<p>CAN \u4e0d\u4f1a\u56e0\u4e3a\u4e00\u6b21\u9519\u8bef\u5c31\u628a\u4e00\u4e2a\u8282\u70b9\u8e22\u51fa\u53bb\u3002<\/p>\n<p>\u800c\u662f&#xff1a;<\/p>\n<p>\u5076\u53d1\u9519\u8bef<br \/>\n\u2193<br \/>\n\u8ba1\u6570<br \/>\n\u2193<br \/>\n\u6062\u590d\u6b63\u5e38<br \/>\n\u2193<br \/>\n\u8ba1\u6570\u4e0b\u964d<\/p>\n<p>\u53ea\u6709&#xff1a;<\/p>\n<p>\u6301\u7eed\u9519\u8bef<br \/>\n\u2193<br \/>\n\u9519\u8bef\u8ba1\u6570\u6301\u7eed\u589e\u52a0<br \/>\n\u2193<br \/>\nError-Passive<br \/>\n\u2193<br \/>\n\u4ecd\u7136\u6301\u7eed\u4e25\u91cd\u51fa\u9519<br \/>\n\u2193<br \/>\nBus-Off<\/p>\n<p>\u56e0\u6b64 CAN \u7684\u9519\u8bef\u5904\u7406\u5b9e\u9645\u4e0a\u662f&#xff1a;<\/p>\n<p>\u201c\u5bb9\u5fcd\u77ed\u6682\u9519\u8bef&#xff0c;\u4f46\u9650\u5236\u6301\u7eed\u5236\u9020\u9519\u8bef\u7684\u8282\u70b9\u3002\u201d<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u4e8c\u3001CAN \u7684\u53e6\u4e00\u4e2a\u6838\u5fc3\u54f2\u5b66&#xff1a;\u4e0d\u80fd\u8ba9\u4e00\u4e2a\u574f\u8282\u70b9\u62d6\u57ae\u6574\u4e2a\u7f51\u7edc<\/h2>\n<p>\u53ef\u4ee5\u628a\u5b83\u60f3\u8c61\u6210\u4e00\u4e2a\u56e2\u961f&#xff1a;<\/p>\n<p>\u6b63\u5e38\u8282\u70b9&#xff1a;<br \/>\n\u201c\u6211\u53d1\u73b0\u95ee\u9898&#xff0c;\u6211\u7acb\u5373\u53eb\u505c\u8fd9\u6b21\u9519\u8bef\u901a\u4fe1\u3002\u201d<\/p>\n<p>\u95ee\u9898\u8282\u70b9\u5f00\u59cb\u53d8\u574f&#xff1a;<br \/>\n\u201c\u6211\u4ecd\u7136\u53ef\u4ee5\u901a\u4fe1&#xff0c;\u4f46\u4e0d\u80fd\u518d\u5f3a\u5236\u6253\u65ad\u522b\u4eba\u3002\u201d<\/p>\n<p>\u95ee\u9898\u7ee7\u7eed\u6076\u5316&#xff1a;<br \/>\n\u201c\u4f60\u6682\u65f6\u79bb\u5f00\u7f51\u7edc\u3002\u201d<\/p>\n<p>\u95ee\u9898\u89e3\u51b3\u4ee5\u540e&#xff1a;<br \/>\n\u201c\u89c2\u5bdf\u4e00\u6bb5\u65f6\u95f4&#xff0c;\u786e\u8ba4\u603b\u7ebf\u6b63\u5e38&#xff0c;\u518d\u56de\u6765\u3002\u201d<\/p>\n<p>\u8fd9\u5c31\u662f&#xff1a;<\/p>\n<p>Error-Active<br \/>\n      \u2193<br \/>\nError-Passive<br \/>\n      \u2193<br \/>\nBus-Off<\/p>\n<p>\u4ee5\u53ca&#xff1a;<\/p>\n<p>Bus-Off<br \/>\n      \u2193<br \/>\nBus Integration<br \/>\n      \u2193<br \/>\n128 Idle Conditions<br \/>\n      \u2193<br \/>\n\u91cd\u65b0\u52a0\u5165<\/p>\n<p>\u5b83\u4e0d\u662f\u7b80\u5355\u7684\u201c\u9519\u8bef\u8ba1\u6570\u5668\u201d&#xff0c;\u800c\u662f\u4e00\u5957&#xff1a;<\/p>\n<p>\u5206\u7ea7\u5bb9\u9519 &#043; \u6545\u969c\u9694\u79bb &#043; \u81ea\u52a8\u6062\u590d\u673a\u5236\u3002<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u4e09\u3001\u4ece\u53d1\u9001\u65b9\u548c\u63a5\u6536\u65b9\u5206\u522b\u603b\u7ed3<\/h2>\n<h3>\u53d1\u9001\u65b9<\/h3>\n<p>\u53d1\u9001\u8282\u70b9\u4e3b\u8981\u5173\u6ce8&#xff1a;<\/p>\n<p>\u6211\u53d1\u9001\u4e86\u4ec0\u4e48&#xff1f;<br \/>\n        \u2193<br \/>\n\u603b\u7ebf\u5b9e\u9645\u4e0a\u662f\u4ec0\u4e48&#xff1f;<br \/>\n        \u2193<br \/>\n\u6709\u6ca1\u6709 ACK&#xff1f;<br \/>\n        \u2193<br \/>\n\u6709\u6ca1\u6709\u53d1\u751f\u53d1\u9001\u8fc7\u7a0b\u4e2d\u7684\u9519\u8bef&#xff1f;<\/p>\n<p>\u53ef\u80fd\u53d1\u73b0&#xff1a;<\/p>\n<ul>\n<li>Bit Error<\/li>\n<li>ACK Error<\/li>\n<li>\u4ee5\u53ca\u53d1\u9001\u8fc7\u7a0b\u4e2d\u76f8\u5e94\u7684\u534f\u8bae\u9519\u8bef<\/li>\n<\/ul>\n<p>\u5982\u679c\u53d1\u73b0\u9700\u8981\u53d1\u9001 Error Flag&#xff1a;<\/p>\n<p>Error-Active<br \/>\n\u2192 Active Error Flag<\/p>\n<p>Error-Passive<br \/>\n\u2192 Passive Error Flag<\/p>\n<p>\u9519\u8bef\u5bfc\u81f4\u7684\u8ba1\u6570\u4e3b\u8981\u5f71\u54cd&#xff1a;<\/p>\n<p>TEC<\/p>\n<p>\u6210\u529f\u53d1\u9001\u540e&#xff1a;<\/p>\n<p>TEC -&#061; 1<\/p>\n<p>\u6301\u7eed\u53d1\u9001\u9519\u8bef&#xff1a;<\/p>\n<p>TEC \u2191<br \/>\n\u2193<br \/>\n&gt;127<br \/>\n\u2193<br \/>\nError-Passive<br \/>\n\u2193<br \/>\n&gt;255<br \/>\n\u2193<br \/>\nBus-Off<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u56db\u3001\u63a5\u6536\u65b9<\/h2>\n<p>\u63a5\u6536\u8282\u70b9\u4e3b\u8981\u5173\u6ce8&#xff1a;<\/p>\n<p>\u8fd9\u4e2a\u5e27\u683c\u5f0f\u5bf9\u4e0d\u5bf9&#xff1f;<br \/>\nStuff \u5bf9\u4e0d\u5bf9&#xff1f;<br \/>\nCRC \u5bf9\u4e0d\u5bf9&#xff1f;<br \/>\n\u56fa\u5b9a\u5b57\u6bb5\u5bf9\u4e0d\u5bf9&#xff1f;<\/p>\n<p>\u53ef\u80fd\u53d1\u73b0&#xff1a;<\/p>\n<ul>\n<li>Stuff Error<\/li>\n<li>CRC Error<\/li>\n<li>Form Error<\/li>\n<li>Bit Error<\/li>\n<li>\u4ee5\u53ca\u5176\u4ed6\u534f\u8bae\u89c4\u5b9a\u7684\u63a5\u6536\u9519\u8bef<\/li>\n<\/ul>\n<p>\u53d1\u73b0\u9519\u8bef&#xff1a;<\/p>\n<p>\u53d1\u9001 Error Flag<\/p>\n<p>\u9519\u8bef\u4e3b\u8981\u5f71\u54cd&#xff1a;<\/p>\n<p>REC<\/p>\n<p>\u6210\u529f\u63a5\u6536&#xff1a;<\/p>\n<p>REC \u4e0b\u964d<\/p>\n<p>\u6301\u7eed\u68c0\u6d4b\u9519\u8bef&#xff1a;<\/p>\n<p>REC \u2191<br \/>\n\u2193<br \/>\n&gt;127<br \/>\n\u2193<br \/>\nError-Passive<\/p>\n<p>\u5982\u679c\u9519\u8bef\u505c\u6b62&#xff0c;REC \u53ef\u4ee5\u9010\u6b65\u4e0b\u964d&#xff0c;\u6700\u7ec8\u91cd\u65b0\u8fdb\u5165 Error-Active\u3002<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u4e94\u3001\u628a\u6574\u4e2a CAN \u9519\u8bef\u673a\u5236\u6d53\u7f29\u6210\u4e00\u5f20\u56fe<\/h2>\n<p>                     CAN FRAME<br \/>\n                         \u2502<br \/>\n          \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n          \u2502                             \u2502<br \/>\n        \u53d1\u9001\u65b9                         \u63a5\u6536\u65b9<br \/>\n          \u2502                             \u2502<br \/>\n     \u76d1\u89c6\u603b\u7ebf                       \u68c0\u67e5\u6536\u5230\u7684\u5e27<br \/>\n          \u2502                             \u2502<br \/>\n   Bit Error \/ ACK                Stuff \/ CRC \/<br \/>\n       \u7b49\u9519\u8bef                     Form \/ Bit \u7b49<br \/>\n          \u2502                             \u2502<br \/>\n          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n                         \u2193<br \/>\n                   Error detected<br \/>\n                         \u2502<br \/>\n                         \u2193<br \/>\n                  Error Flag<br \/>\n                         \u2502<br \/>\n              \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n              \u2502                     \u2502<br \/>\n        Error-Active           Error-Passive<br \/>\n              \u2502                     \u2502<br \/>\n       6 Dominant bits       6 Recessive bits<br \/>\n              \u2502                     \u2502<br \/>\n              \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518<br \/>\n                         \u2193<br \/>\n                 Error Delimiter<br \/>\n                  8 Recessive<br \/>\n                         \u2502<br \/>\n                         \u2193<br \/>\n                   \u5f53\u524d\u5e27\u4f5c\u5e9f<br \/>\n                         \u2502<br \/>\n                         \u2193<br \/>\n                  Automatic Retry<br \/>\n                         \u2502<br \/>\n             \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n             \u2502                       \u2502<br \/>\n          \u9519\u8bef\u51cf\u5c11                 \u9519\u8bef\u6301\u7eed<br \/>\n             \u2502                       \u2502<br \/>\n       TEC\/REC\u4e0b\u964d               TEC\/REC\u4e0a\u5347<br \/>\n             \u2502                       \u2502<br \/>\n             \u2193                  &gt;127<br \/>\n       Error-Active                  \u2502<br \/>\n                                Error-Passive<br \/>\n                                     \u2502<br \/>\n                                  TEC &gt;255<br \/>\n                                     \u2502<br \/>\n                                     \u2193<br \/>\n                                  Bus-Off<br \/>\n                                     \u2502<br \/>\n                              Restart Request<br \/>\n                                     \u2502<br \/>\n                                     \u2193<br \/>\n                              Bus Integration<br \/>\n                                     \u2502<br \/>\n                              128 Idle Conditions<br \/>\n                                     \u2502<br \/>\n                                     \u2193<br \/>\n                             TEC&#061;0 \/ REC&#061;0<br \/>\n                                     \u2502<br \/>\n                                     \u2193<br \/>\n                               Error-Active<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u516d\u3001\u6700\u540e\u7528\u4e00\u53e5\u8bdd\u7406\u89e3 TEC\u3001REC \u548c Bus-Off<\/h2>\n<p>\u53ef\u4ee5\u628a\u5b83\u4eec\u8bb0\u6210&#xff1a;<\/p>\n<h4>REC<\/h4>\n<p>\u201c\u6211\u4f5c\u4e3a\u63a5\u6536\u8005&#xff0c;\u6700\u8fd1\u770b\u5230\u591a\u5c11\u9519\u8bef&#xff1f;\u201d<\/p>\n<h4>TEC<\/h4>\n<p>\u201c\u6211\u4f5c\u4e3a\u53d1\u9001\u8005&#xff0c;\u6700\u8fd1\u53d1\u751f\u591a\u5c11\u9519\u8bef&#xff1f;\u201d<\/p>\n<h4>Error-Active<\/h4>\n<p>\u201c\u6211\u6b63\u5e38\u53c2\u4e0e\u901a\u4fe1&#xff0c;\u4e5f\u6709\u6743\u4e3b\u52a8\u53d1\u51fa\u663e\u6027\u9519\u8bef\u6807\u5fd7\u3002\u201d<\/p>\n<h4>Error-Passive<\/h4>\n<p>\u201c\u6211\u6700\u8fd1\u9519\u8bef\u592a\u591a\u4e86&#xff0c;\u6211\u8fd8\u80fd\u901a\u4fe1&#xff0c;\u4f46\u4e0d\u80fd\u518d\u7528\u663e\u6027\u9519\u8bef\u6807\u5fd7\u5f3a\u5236\u6253\u65ad\u603b\u7ebf\u3002\u201d<\/p>\n<h4>Bus-Off<\/h4>\n<p>\u201c\u6211\u5df2\u7ecf\u4e25\u91cd\u5230\u4e0d\u80fd\u7ee7\u7eed\u5f71\u54cd\u603b\u7ebf&#xff0c;\u5148\u9000\u51fa\u3002\u201d<\/p>\n<hr \/>\n<h2>\u4e94\u5341\u4e03\u3001\u6700\u7ec8\u7406\u89e3 CAN Error Frame&#xff0c;\u771f\u6b63\u5e94\u8be5\u6293\u4f4f\u7684\u4e0d\u662f\u51e0\u4e2a\u6570\u5b57<\/h2>\n<p>\u5f88\u591a\u8d44\u6599\u6700\u540e\u90fd\u4f1a\u53d8\u6210&#xff1a;<\/p>\n<p>TEC &gt;127<br \/>\nTEC &gt;255<br \/>\nREC &gt;127<br \/>\n6\u4e2a0<br \/>\n6\u4e2a1<br \/>\n8\u4e2a1<br \/>\n128\u6b21<\/p>\n<p>\u8fd9\u4e9b\u6570\u5b57\u5f53\u7136\u91cd\u8981\u3002<\/p>\n<p>\u4f46\u5982\u679c\u53ea\u8bb0\u6570\u5b57&#xff0c;\u5f88\u5bb9\u6613\u628a CAN \u9519\u8bef\u673a\u5236\u7406\u89e3\u6210\u6b7b\u8bb0\u786c\u80cc\u3002<\/p>\n<p>\u771f\u6b63\u5e94\u8be5\u7406\u89e3\u7684\u662f\u4e0b\u9762\u8fd9\u6761\u903b\u8f91\u94fe&#xff1a;<\/p>\n<p>\u53d1\u73b0\u9519\u8bef \u2192 \u7acb\u5373\u6807\u8bb0\u9519\u8bef \u2192 \u7834\u574f\u5f53\u524d\u5e27 \u2192 \u6240\u6709\u8282\u70b9\u653e\u5f03\u5f53\u524d\u5e27 \u2192 \u81ea\u52a8\u91cd\u4f20 \u2192 \u8bb0\u5f55\u9519\u8bef\u5386\u53f2 \u2192 \u9519\u8bef\u6301\u7eed\u5219\u964d\u4f4e\u8282\u70b9\u6743\u9650 \u2192 \u518d\u6301\u7eed\u5219 Bus-Off \u2192 \u89c2\u5bdf\u603b\u7ebf\u6062\u590d\u540e\u91cd\u65b0\u52a0\u5165\u3002<\/p>\n<p>\u8fd9\u624d\u662f CAN Error Handling \u7684\u5b8c\u6574\u903b\u8f91\u3002<\/p>\n<p>\u800c\u5b83\u80cc\u540e\u7684\u5de5\u7a0b\u54f2\u5b66\u53ea\u6709\u4e00\u53e5\u8bdd&#xff1a;<\/p>\n<p>CAN \u4e0d\u8ffd\u6c42\u201c\u6c38\u8fdc\u6ca1\u6709\u9519\u8bef\u201d&#xff0c;\u800c\u662f\u8ffd\u6c42\u201c\u5373\u4f7f\u51fa\u73b0\u9519\u8bef&#xff0c;\u7f51\u7edc\u4ecd\u7136\u80fd\u591f\u5feb\u901f\u53d1\u73b0\u3001\u5feb\u901f\u6062\u590d&#xff0c;\u5e76\u628a\u6301\u7eed\u5236\u9020\u9519\u8bef\u7684\u8282\u70b9\u9694\u79bb\u51fa\u53bb\u201d\u3002<\/p>\n<p>\u8fd9\u4e5f\u662f ISO 11898-1 \u4e2d Fault Confinement \u673a\u5236\u6700\u6838\u5fc3\u7684\u601d\u60f3\u3002<\/p>\n<hr \/>\n<h3>\u89c4\u8303\u4f9d\u636e<\/h3>\n<p>\u672c\u6587\u4e3b\u8981\u4f9d\u636e\u4f60\u63d0\u4f9b\u7684 ISO 11898-1:2015&#xff1a;<\/p>\n<ul>\n<li>6.8 Error detection<\/li>\n<li>6.9 Error signalling and recovery time<\/li>\n<li>6.10 ACK<\/li>\n<li>6.11 Automatic retransmission<\/li>\n<li>6.12 Fault confinement<\/li>\n<li>6.13 Error-active<\/li>\n<li>6.14 Error-passive<\/li>\n<li>6.15 Bus-off<\/li>\n<li>10.11 Error detection<\/li>\n<li>10.12 Error signalling<\/li>\n<li>12.1.1 Fault confinement objectives<\/li>\n<li>12.1.2 Fault confinement strategies<\/li>\n<li>12.1.4 Rules of fault confinement<\/li>\n<li>12.1.4.2 Error counting<\/li>\n<li>12.1.4.3 Transition between Error-Active and Error-Passive<\/li>\n<li>12.1.4.4 Bus-Off management<\/li>\n<\/ul>\n<p>\u5176\u4e2d\u89c4\u8303\u660e\u786e\u6307\u51fa CAN \u901a\u8fc7\u9519\u8bef\u68c0\u6d4b\u3001\u9519\u8bef\u4fe1\u53f7\u3001\u81ea\u52a8\u91cd\u4f20\u4ee5\u53ca\u6545\u969c\u9694\u79bb&#xff0c;\u4f7f\u7f51\u7edc\u80fd\u591f\u533a\u5206\u77ed\u6682\u5e72\u6270\u4e0e\u6301\u7eed\u6545\u969c&#xff0c;\u5e76\u5c06\u6301\u7eed\u4ea7\u751f\u9519\u8bef\u7684\u8282\u70b9\u6700\u7ec8\u4ece\u603b\u7ebf\u9694\u79bb\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u2014\u2014\u4ece Error Frame\u3001TEC\/REC \u5230 Bus-Off&#xff0c;\u5f7b\u5e95\u7406\u89e3 CAN \u7684\u9519\u8bef\u5904\u7406\u54f2\u5b66<br \/>\n\u4e00\u3001\u5148\u5efa\u7acb\u4e00\u4e2a\u6700\u91cd\u8981\u7684\u6982\u5ff5<br \/>\n\u5f88\u591a\u521d\u5b66\u8005\u7406\u89e3 CAN 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