{"id":117029,"date":"2026-10-22T11:56:27","date_gmt":"2026-10-22T03:56:27","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/117029.html"},"modified":"2026-10-22T11:56:27","modified_gmt":"2026-10-22T03:56:27","slug":"canopen-%e5%9c%a8-bms-%e7%b3%bb%e7%bb%9f%e4%b8%ad%e7%9a%84-c-%e8%af%ad%e8%a8%80%e5%ae%9e%e6%88%98%e6%8c%87%e5%8d%97","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/117029.html","title":{"rendered":"CANopen \u5728 BMS \u7cfb\u7edf\u4e2d\u7684 C \u8bed\u8a00\u5b9e\u6218\u6307\u5357"},"content":{"rendered":"<p>\u6458\u8981\uff1a\u672c\u6587\u9762\u5411\u7535\u6c60\u7ba1\u7406\u7cfb\u7edf\uff08BMS\uff09\u56fa\u4ef6\u5f00\u53d1\u5de5\u7a0b\u5e08\uff0c\u7cfb\u7edf\u8bb2\u89e3 CANopen \u534f\u8bae\u5728 BMS \u573a\u666f\u4e0b\u7684\u5de5\u7a0b\u843d\u5730\u65b9\u6cd5\u3002\u5185\u5bb9\u6db5\u76d6\u6838\u5fc3\u6982\u5ff5\u89e3\u6790\u3001\u5f00\u53d1\u73af\u5883\u642d\u5efa\u3001\u5bf9\u8c61\u5b57\u5178\u914d\u7f6e\u3001NMT \u72b6\u6001\u673a\u7ba1\u7406\u3001PDO \u5b9e\u65f6\u6570\u636e\u4e0a\u62a5\u3001SDO \u53c2\u6570\u8bfb\u5199\u3001\u5fc3\u8df3\u76d1\u6d4b\u4e0e\u6545\u969c\u8bca\u65ad\uff0c\u5e76\u7ed9\u51fa\u5178\u578b C \u8bed\u8a00\u4ee3\u7801\u5b9e\u4f8b\u4e0e\u5e38\u89c1\u62a5\u9519\u6392\u67e5\u6b65\u9aa4\uff0c\u5e2e\u52a9\u8bfb\u8005\u4ece\u96f6\u6784\u5efa\u9ad8\u53ef\u9760 BMS \u901a\u4fe1\u8282\u70b9\u3002<\/p>\n<p>\u5173\u952e\u8bcd\uff1aBMS\uff1bCANopen\uff1b\u5bf9\u8c61\u5b57\u5178\uff1bNMT \u72b6\u6001\u673a\uff1bPDO\uff1bSDO\uff1b\u5fc3\u8df3\u62a5\u6587\uff1b\u5d4c\u5165\u5f0f\u5f00\u53d1<\/p>\n<h3>\u76ee\u5f55<\/h3>\n<ul>\n<li>\u2460 BMS \u573a\u666f\u4e0b\u7684 CANopen \u6838\u5fc3\u6982\u5ff5\u89e3\u6790<\/li>\n<li>\u2461 \u5d4c\u5165\u5f0f\u5f00\u53d1\u73af\u5883\u642d\u5efa\u4e0e\u534f\u8bae\u6808\u96c6\u6210<\/li>\n<li>\u2462 \u5bf9\u8c61\u5b57\u5178\u914d\u7f6e\u4e0e BMS \u53c2\u6570\u6620\u5c04\u65b9\u6cd5<\/li>\n<li>\u2463 NMT \u72b6\u6001\u673a\u7ba1\u7406\u4e0e\u8282\u70b9\u521d\u59cb\u5316\u6d41\u7a0b<\/li>\n<li>\u2464 PDO \u901a\u4fe1\u673a\u5236\u5b9e\u73b0\u7535\u6c60\u6570\u636e\u5b9e\u65f6\u4e0a\u62a5<\/li>\n<li>\u2465 SDO \u670d\u52a1\u8c03\u7528\u5b8c\u6210\u53c2\u6570\u8bfb\u5199\u64cd\u4f5c<\/li>\n<li>\u2466 \u5fc3\u8df3\u62a5\u6587\u76d1\u6d4b\u4e0e\u8282\u70b9\u6545\u969c\u8bca\u65ad\u903b\u8f91<\/li>\n<li>\u2467 \u5178\u578b C \u8bed\u8a00\u4ee3\u7801\u5b9e\u4f8b\u4e0e\u8fd0\u884c\u9a8c\u8bc1<\/li>\n<li>\u2468 \u5e38\u89c1\u901a\u4fe1\u62a5\u9519\u5206\u6790\u4e0e\u6392\u67e5\u6b65\u9aa4<\/li>\n<li>\u2469 \u63d0\u5347 BMS \u901a\u4fe1\u7a33\u5b9a\u6027\u7684\u5b9e\u7528\u6280\u5de7<\/li>\n<\/ul>\n<p>\u5728\u7535\u6c60\u7ba1\u7406\u7cfb\u7edf\uff08BMS\uff09\u7684\u5f00\u53d1\u8fc7\u7a0b\u4e2d\uff0c\u901a\u4fe1\u534f\u8bae\u7684\u7a33\u5b9a\u6027\u76f4\u63a5\u51b3\u5b9a\u4e86\u6574\u4e2a\u50a8\u80fd\u7cfb\u7edf\u6216\u7535\u52a8\u6c7d\u8f66\u7684\u5b89\u5168\u6027\u4e0e\u53ef\u9760\u6027\u3002\u5f88\u591a\u5d4c\u5165\u5f0f\u5de5\u7a0b\u5e08\u5728\u4ece\u7406\u8bba\u8f6c\u5411\u5b9e\u6218\u65f6\uff0c\u5f80\u5f80\u4f1a\u5361\u5728\u534f\u8bae\u6808\u7684\u96c6\u6210\u7ec6\u8282\u4e0a\uff1a\u660e\u660e\u539f\u7406\u56fe\u8fde\u63a5\u65e0\u8bef\uff0c\u4f46\u4e0a\u4f4d\u673a\u5c31\u662f\u8bfb\u4e0d\u5230\u7535\u6c60\u7535\u538b\uff0c\u6216\u8005\u8282\u70b9\u9891\u7e41\u6389\u7ebf\u590d\u4f4d\u3002\u8fd9\u79cd\u201c\u901a\u800c\u4e0d\u7545\u201d\u7684\u73b0\u8c61\uff0c\u901a\u5e38\u4e0d\u662f\u786c\u4ef6\u6545\u969c\uff0c\u800c\u662f\u5bf9 CANopen \u534f\u8bae\u5728 BMS \u7279\u5b9a\u573a\u666f\u4e0b\u7684\u5e94\u7528\u903b\u8f91\u7406\u89e3\u4e0d\u591f\u900f\u5f7b\u3002CANopen \u4f5c\u4e3a\u4e00\u79cd\u6210\u719f\u7684\u5e94\u7528\u5c42\u534f\u8bae\uff0c\u5176\u4f18\u52bf\u5728\u4e8e\u6807\u51c6\u5316\u7684\u5bf9\u8c61\u5b57\u5178\u548c\u7075\u6d3b\u7684\u72b6\u6001\u673a\u7ba1\u7406\uff0c\u4f46\u82e5\u914d\u7f6e\u4e0d\u5f53\uff0c\u6781\u6613\u5bfc\u81f4\u5b9e\u65f6\u6027\u4e0d\u8db3\u6216\u6570\u636e\u4e22\u5305\u3002<\/p>\n<p>\u5bf9\u4e8e\u8d1f\u8d23 BMS \u56fa\u4ef6\u5f00\u53d1\u7684\u5de5\u7a0b\u5e08\u800c\u8a00\uff0c\u638c\u63e1 CANopen \u4e0d\u4ec5\u4ec5\u662f\u5b66\u4f1a\u8c03\u7528\u51e0\u4e2a API \u51fd\u6570\uff0c\u66f4\u9700\u8981\u6df1\u5165\u7406\u89e3 NMT \u72b6\u6001\u673a\u7684\u6d41\u8f6c\u673a\u5236\u3001PDO \u7684\u6620\u5c04\u89c4\u5219\u4ee5\u53ca SDO \u670d\u52a1\u7684\u4ea4\u4e92\u65f6\u5e8f\u3002\u7279\u522b\u662f\u5728\u591a\u8282\u4e32\u8054\u7535\u6c60\u7ec4\u7684\u7ba1\u7406\u4e2d\uff0c\u5982\u4f55\u786e\u4fdd\u6210\u5343\u4e0a\u4e07\u4e2a\u53c2\u6570\u80fd\u591f\u6709\u5e8f\u3001\u5b9e\u65f6\u5730\u4f20\u8f93\uff0c\u540c\u65f6\u53c8\u80fd\u901a\u8fc7\u5fc3\u8df3\u673a\u5236\u5feb\u901f\u5b9a\u4f4d\u6545\u969c\u8282\u70b9\uff0c\u662f\u8861\u91cf\u4ee3\u7801\u8d28\u91cf\u7684\u5173\u952e\u6307\u6807\u3002\u672c\u6587\u5c06\u5265\u79bb\u590d\u6742\u7684\u7406\u8bba\u5806\u780c\uff0c\u76f4\u63a5\u5207\u5165\u5de5\u7a0b\u5b9e\u8df5\uff0c\u4ece\u73af\u5883\u642d\u5efa\u5230\u4ee3\u7801\u843d\u5730\uff0c\u4e00\u6b65\u6b65\u8fd8\u539f\u4e00\u4e2a\u9ad8\u53ef\u9760 BMS \u901a\u4fe1\u8282\u70b9\u7684\u6784\u5efa\u8fc7\u7a0b\u3002\u65e0\u8bba\u4f60\u662f\u6b63\u5728\u9009\u578b\u534f\u8bae\u6808\u7684\u65b0\u624b\uff0c\u8fd8\u662f\u8bd5\u56fe\u4f18\u5316\u73b0\u6709\u901a\u4fe1\u67b6\u6784\u7684\u8d44\u6df1\u5f00\u53d1\u8005\uff0c\u63a5\u4e0b\u6765\u7684\u5185\u5bb9\u90fd\u5c06\u63d0\u4f9b\u53ef\u7acb\u5373\u590d\u7528\u7684\u5b9e\u64cd\u65b9\u6848\uff0c\u5e2e\u52a9\u4f60\u907f\u5f00\u90a3\u4e9b\u5728\u8c03\u8bd5\u9636\u6bb5\u5bb9\u6613\u8ba9\u4eba\u5934\u75bc\u7684\u201c\u5751\u201d\u3002<\/p>\n<h3>\u2460 BMS \u573a\u666f\u4e0b\u7684 CANopen \u6838\u5fc3\u6982\u5ff5\u89e3\u6790<\/h3>\n<p>\u5728 BMS \u5e94\u7528\u4e2d\uff0cCANopen \u5e76\u975e\u7b80\u5355\u7684\u6570\u636e\u642c\u8fd0\u5de5\uff0c\u800c\u662f\u4e00\u5957\u4e25\u8c28\u7684\u534f\u4f5c\u89c4\u8303\u3002\u6211\u4eec\u9700\u8981\u9996\u5148\u5398\u6e05\u51e0\u4e2a\u5728\u7535\u6c60\u7ba1\u7406\u4e2d\u81f3\u5173\u91cd\u8981\u7684\u6838\u5fc3\u6982\u5ff5\u3002\u9996\u5148\u662f\u5bf9\u8c61\u5b57\u5178\uff08Object Dictionary\uff09\uff0c\u5b83\u662f CANopen \u8282\u70b9\u7684\u201c\u6570\u636e\u5e93\u201d\uff0c\u6240\u6709\u7535\u6c60\u7535\u538b\u3001\u6e29\u5ea6\u3001SOC\uff08\u5269\u4f59\u7535\u91cf\uff09\u3001SOH\uff08\u5065\u5eb7\u72b6\u6001\uff09\u7b49\u53c2\u6570\u90fd\u5fc5\u987b\u5b9a\u4e49\u5728\u8fd9\u91cc\u3002\u6bcf\u4e2a\u53c2\u6570\u90fd\u6709\u552f\u4e00\u7684\u7d22\u5f15\uff08Index\uff09\u548c\u5b50\u7d22\u5f15\uff08Sub-index\uff09\uff0c\u4f8b\u5982\uff0c0x2000 \u53ef\u80fd\u4ee3\u8868\u5355\u4f53\u7535\u538b\u6570\u7ec4\uff0c\u800c 0x1008 \u5219\u662f\u5382\u5546\u540d\u79f0\u3002\u7406\u89e3\u5bf9\u8c61\u5b57\u5178\u7684\u7ed3\u6784\uff0c\u662f\u5b9e\u73b0\u53c2\u6570\u6807\u51c6\u5316\u8bbf\u95ee\u7684\u57fa\u7840\u3002<\/p>\n<p>\u5176\u6b21\u662f\u901a\u4fe1\u6a21\u578b\u3002CANopen \u63d0\u4f9b\u4e86\u591a\u79cd\u901a\u4fe1\u65b9\u5f0f\uff0c\u4f46\u5728 BMS \u4e2d\uff0c\u6700\u5e38\u7528\u7684\u662f\u751f\u4ea7\u8005\/\u6d88\u8d39\u8005\u6a21\u578b\uff0c\u4e3b\u8981\u901a\u8fc7 PDO\uff08\u8fc7\u7a0b\u6570\u636e\u5bf9\u8c61\uff09\u5b9e\u73b0\u3002\u60f3\u8c61\u4e00\u4e0b\uff0cBMS \u4f5c\u4e3a\u751f\u4ea7\u8005\uff0c\u5468\u671f\u6027\u5730\u5c06\u6700\u65b0\u7684\u7535\u6c60\u6570\u636e\u201c\u5e7f\u64ad\u201d\u51fa\u53bb\uff0c\u800c VCU\uff08\u6574\u8f66\u63a7\u5236\u5668\uff09\u6216\u5145\u7535\u6869\u4f5c\u4e3a\u6d88\u8d39\u8005\uff0c\u53ea\u9700\u76d1\u542c\u5373\u53ef\u83b7\u53d6\u6570\u636e\uff0c\u65e0\u9700\u53cd\u590d\u8bf7\u6c42\u3002\u8fd9\u79cd\u673a\u5236\u6781\u5927\u5730\u964d\u4f4e\u4e86\u603b\u7ebf\u8d1f\u8f7d\uff0c\u4fdd\u8bc1\u4e86\u6570\u636e\u7684\u5b9e\u65f6\u6027\u3002\u76f8\u6bd4\u4e4b\u4e0b\uff0cSDO\uff08\u670d\u52a1\u6570\u636e\u5bf9\u8c61\uff09\u5219\u66f4\u50cf\u662f\u4e00\u79cd\u201c\u70b9\u5bf9\u70b9\u201d\u7684\u8bfb\u5199\u5de5\u5177\uff0c\u9002\u7528\u4e8e\u975e\u5b9e\u65f6\u7684\u53c2\u6570\u914d\u7f6e\uff0c\u5982\u4fee\u6539\u4fdd\u62a4\u9608\u503c\u6216\u8bfb\u53d6\u56fa\u4ef6\u7248\u672c\uff0c\u5b83\u7684\u4f20\u8f93\u901f\u5ea6\u8f83\u6162\uff0c\u4f46\u53ef\u9760\u6027\u6781\u9ad8\uff0c\u9002\u5408\u5076\u5c14\u53d1\u751f\u7684\u914d\u7f6e\u64cd\u4f5c\u3002<\/p>\n<p>\u6700\u540e\u4e0d\u80fd\u5ffd\u89c6\u7684\u662f\u7f51\u7edc\u7ba1\u7406\uff08NMT\uff09\u3002BMS \u7cfb\u7edf\u4e0a\u7535\u540e\uff0c\u8282\u70b9\u4e0d\u4f1a\u7acb\u523b\u5f00\u59cb\u53d1\u9001\u6570\u636e\uff0c\u800c\u662f\u5fc5\u987b\u7ecf\u8fc7 NMT \u72b6\u6001\u673a\u7684\u4e25\u683c\u7ba1\u63a7\uff0c\u4ece\u521d\u59cb\u5316\u72b6\u6001\u8fc7\u6e21\u5230\u9884\u64cd\u4f5c\u3001\u64cd\u4f5c\u72b6\u6001\u7b49\u3002\u53ea\u6709\u8fdb\u5165\u201c\u8fd0\u884c\u72b6\u6001\u201d\uff0cPDO \u901a\u4fe1\u624d\u4f1a\u88ab\u6fc0\u6d3b\u3002\u8fd9\u4e00\u673a\u5236\u786e\u4fdd\u4e86\u6240\u6709\u8282\u70b9\u5728\u5b8c\u6210\u81ea\u68c0\u548c\u53c2\u6570\u540c\u6b65\u524d\uff0c\u4e0d\u4f1a\u5411\u603b\u7ebf\u53d1\u9001\u65e0\u6548\u6216\u9519\u8bef\u7684\u6570\u636e\uff0c\u4ece\u800c\u907f\u514d\u4e86\u7cfb\u7edf\u542f\u52a8\u9636\u6bb5\u7684\u6df7\u4e71\u3002<\/p>\n<p>\u4e3a\u4e86\u5e2e\u52a9\u8bfb\u8005\u5feb\u901f\u7406\u89e3 PDO \u4e0e SDO \u7684\u9002\u7528\u573a\u666f\uff0c\u4e0b\u9762\u4ece\u4f20\u8f93\u6a21\u5f0f\u3001\u5b9e\u65f6\u6027\u3001\u53ef\u9760\u6027\u3001\u5178\u578b\u5e94\u7528\u573a\u666f\u548c\u6570\u636e\u957f\u5ea6\u9650\u5236\u7b49\u7ef4\u5ea6\u8fdb\u884c\u5bf9\u6bd4\uff1a<\/p>\n<table>\n<tr>\n   \u5bf9\u6bd4\u7ef4\u5ea6<br \/>\n   PDO\uff08\u8fc7\u7a0b\u6570\u636e\u5bf9\u8c61\uff09<br \/>\n   SDO\uff08\u670d\u52a1\u6570\u636e\u5bf9\u8c61\uff09<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>\u4f20\u8f93\u6a21\u5f0f<\/td>\n<td>\u751f\u4ea7\u8005\/\u6d88\u8d39\u8005\u6a21\u578b\uff0c\u5355\u5411\u5e7f\u64ad\uff0c\u65e0\u9700\u5e94\u7b54<\/td>\n<td>\u5ba2\u6237\u7aef\/\u670d\u52a1\u5668\u6a21\u578b\uff0c\u70b9\u5bf9\u70b9\uff0c\u5e26\u786e\u8ba4\u5e94\u7b54<\/td>\n<\/tr>\n<tr>\n<td>\u5b9e\u65f6\u6027<\/td>\n<td>\u9ad8\uff0c\u652f\u6301\u5468\u671f\u6027\u6216\u4e8b\u4ef6\u89e6\u53d1\uff0c\u9002\u5408\u9ad8\u9891\u6570\u636e<\/td>\n<td>\u4f4e\uff0c\u9010\u5e27\u786e\u8ba4\uff0c\u9002\u5408\u4f4e\u9891\u914d\u7f6e\u64cd\u4f5c<\/td>\n<\/tr>\n<tr>\n<td>\u53ef\u9760\u6027<\/td>\n<td>\u65e0\u786e\u8ba4\u673a\u5236\uff0c\u9760 CRC \u4e0e\u603b\u7ebf\u4ef2\u88c1\u4fdd\u8bc1<\/td>\n<td>\u9ad8\uff0c\u5e26\u786e\u8ba4\u4e0e\u4e2d\u6b62\u7801\uff08Abort Code\uff09\uff0c\u53ef\u6821\u9a8c<\/td>\n<\/tr>\n<tr>\n<td>\u5178\u578b\u5e94\u7528\u573a\u666f<\/td>\n<td>\u7535\u6c60\u7535\u538b\u3001\u7535\u6d41\u3001\u6e29\u5ea6\u7b49\u5b9e\u65f6\u6570\u636e\u4e0a\u62a5<\/td>\n<td>\u4fee\u6539\u4fdd\u62a4\u9608\u503c\u3001\u8bfb\u53d6\u56fa\u4ef6\u7248\u672c\u3001\u4ea7\u7ebf\u6821\u51c6<\/td>\n<\/tr>\n<tr>\n<td>\u6570\u636e\u957f\u5ea6\u9650\u5236<\/td>\n<td>\u7ecf\u5178 CAN \u5355\u5e27\u6700\u591a 8 \u5b57\u8282\uff0c\u9700\u6620\u5c04\u538b\u7f29<\/td>\n<td>\u652f\u6301\u5206\u6bb5\u4f20\u8f93\uff08\u5feb\u901f\/\u666e\u901a\uff09\uff0c\u53ef\u4f20\u5927\u5757\u6570\u636e<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u7b80\u5355\u6765\u8bf4\uff0cPDO \u8d1f\u8d23\u201c\u5feb\u201d\uff0c\u628a\u5b9e\u65f6\u6570\u636e\u4ee5\u6700\u5c0f\u5f00\u9500\u5e7f\u64ad\u51fa\u53bb\uff1bSDO \u8d1f\u8d23\u201c\u51c6\u201d\uff0c\u7528\u786e\u8ba4\u673a\u5236\u4fdd\u8bc1\u914d\u7f6e\u548c\u8bca\u65ad\u6570\u636e\u4e07\u65e0\u4e00\u5931\u3002\u5728 BMS \u5de5\u7a0b\u4e2d\uff0c\u4e24\u8005\u5404\u53f8\u5176\u804c\u3001\u4e92\u4e3a\u8865\u5145\uff0c\u5408\u7406\u642d\u914d\u624d\u80fd\u517c\u987e\u5b9e\u65f6\u6027\u4e0e\u53ef\u9760\u6027\u3002<\/p>\n<p>\u4e3a\u4e86\u66f4\u76f4\u89c2\u5730\u7406\u89e3\u8fd9\u4e9b\u6982\u5ff5\u5728\u4e00\u6761\u771f\u5b9e\u603b\u7ebf\u4e0a\u7684\u534f\u4f5c\u5173\u7cfb\uff0c\u4e0b\u9762\u7ed9\u51fa\u4e00\u4e2a\u5178\u578b\u7684 BMS CANopen \u62a5\u6587\u62d3\u6251\u793a\u610f\u3002BMS \u8282\u70b9\u4f5c\u4e3a\u751f\u4ea7\u8005\u5468\u671f\u5e7f\u64ad PDO \u4e0e\u5fc3\u8df3\uff0cVCU\/\u5145\u7535\u6869\u4f5c\u4e3a\u6d88\u8d39\u8005\u76d1\u542c\uff1b\u914d\u7f6e\u4e0e\u8bca\u65ad\u5219\u901a\u8fc7 SDO \u70b9\u5bf9\u70b9\u5b8c\u6210\uff1a<\/p>\n<p>  #mermaid-svg-BA02cjg2cyT3Haa7{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-BA02cjg2cyT3Haa7 .error-icon{fill:#552222;}#mermaid-svg-BA02cjg2cyT3Haa7 .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-BA02cjg2cyT3Haa7 .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-BA02cjg2cyT3Haa7 .marker{fill:#333333;stroke:#333333;}#mermaid-svg-BA02cjg2cyT3Haa7 .marker.cross{stroke:#333333;}#mermaid-svg-BA02cjg2cyT3Haa7 svg{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-BA02cjg2cyT3Haa7 p{margin:0;}#mermaid-svg-BA02cjg2cyT3Haa7 .label{font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;color:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 .cluster-label text{fill:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 .cluster-label span{color:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 .cluster-label span p{background-color:transparent;}#mermaid-svg-BA02cjg2cyT3Haa7 .label text,#mermaid-svg-BA02cjg2cyT3Haa7 span{fill:#333;color:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 .node rect,#mermaid-svg-BA02cjg2cyT3Haa7 .node circle,#mermaid-svg-BA02cjg2cyT3Haa7 .node ellipse,#mermaid-svg-BA02cjg2cyT3Haa7 .node polygon,#mermaid-svg-BA02cjg2cyT3Haa7 .node path{fill:#ECECFF;stroke:#9370DB;stroke-width:1px;}#mermaid-svg-BA02cjg2cyT3Haa7 .rough-node .label text,#mermaid-svg-BA02cjg2cyT3Haa7 .node .label text,#mermaid-svg-BA02cjg2cyT3Haa7 .image-shape .label,#mermaid-svg-BA02cjg2cyT3Haa7 .icon-shape .label{text-anchor:middle;}#mermaid-svg-BA02cjg2cyT3Haa7 .node .katex path{fill:#000;stroke:#000;stroke-width:1px;}#mermaid-svg-BA02cjg2cyT3Haa7 .rough-node .label,#mermaid-svg-BA02cjg2cyT3Haa7 .node .label,#mermaid-svg-BA02cjg2cyT3Haa7 .image-shape .label,#mermaid-svg-BA02cjg2cyT3Haa7 .icon-shape .label{text-align:center;}#mermaid-svg-BA02cjg2cyT3Haa7 .node.clickable{cursor:pointer;}#mermaid-svg-BA02cjg2cyT3Haa7 .root .anchor path{fill:#333333!important;stroke-width:0;stroke:#333333;}#mermaid-svg-BA02cjg2cyT3Haa7 .arrowheadPath{fill:#333333;}#mermaid-svg-BA02cjg2cyT3Haa7 .edgePath .path{stroke:#333333;stroke-width:2.0px;}#mermaid-svg-BA02cjg2cyT3Haa7 .flowchart-link{stroke:#333333;fill:none;}#mermaid-svg-BA02cjg2cyT3Haa7 .edgeLabel{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-BA02cjg2cyT3Haa7 .edgeLabel p{background-color:rgba(232,232,232, 0.8);}#mermaid-svg-BA02cjg2cyT3Haa7 .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-BA02cjg2cyT3Haa7 .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#mermaid-svg-BA02cjg2cyT3Haa7 .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#mermaid-svg-BA02cjg2cyT3Haa7 .cluster text{fill:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 .cluster span{color:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#mermaid-svg-BA02cjg2cyT3Haa7 .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-BA02cjg2cyT3Haa7 rect.text{fill:none;stroke-width:0;}#mermaid-svg-BA02cjg2cyT3Haa7 .icon-shape,#mermaid-svg-BA02cjg2cyT3Haa7 .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-BA02cjg2cyT3Haa7 .icon-shape p,#mermaid-svg-BA02cjg2cyT3Haa7 .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-BA02cjg2cyT3Haa7 .icon-shape .label rect,#mermaid-svg-BA02cjg2cyT3Haa7 .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-BA02cjg2cyT3Haa7 .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-BA02cjg2cyT3Haa7 .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-BA02cjg2cyT3Haa7 :root{&#8211;mermaid-font-family:\\&#8221;trebuchet ms\\&#8221;,verdana,arial,sans-serif;} <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u4e3b\u63a7\u8282\u70b9\uff08\u6d88\u8d39\u8005\uff09<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>BMS \u8282\u70b9\uff08\u751f\u4ea7\u8005\uff09<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>0x180+NodeID<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>0x700+NodeID<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>0x600+NodeID \u8bfb\u5199\u8bf7\u6c42<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"edgeLabel\"><\/p>\n<p>0x580+NodeID \u5e94\u7b54<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u5bf9\u8c61\u5b57\u5178\u7535\u538b\/\u6e29\u5ea6\/SOC<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>PDO \u5468\u671f\u5e7f\u64ad<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>\u5fc3\u8df3\u62a5\u6587<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>SDO \u670d\u52a1\u5668<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>VCU \/ \u5145\u7535\u6869<\/p>\n<p><\/span> <\/p>\n<p>         <span class=\"nodeLabel\"><\/p>\n<p>SDO \u5ba2\u6237\u7aef<\/p>\n<p><\/span> <\/p>\n<p>\u901a\u8fc7\u8fd9\u5f20\u56fe\u53ef\u4ee5\u770b\u5230\uff1aPDO \u4e0e\u5fc3\u8df3\u8d70\u5e7f\u64ad\u901a\u9053\uff0c\u4fdd\u8bc1\u5b9e\u65f6\u6027\u4e0e\u5b58\u6d3b\u76d1\u6d4b\uff1bSDO \u8d70\u70b9\u5bf9\u70b9\u901a\u9053\uff0c\u4fdd\u8bc1\u914d\u7f6e\u4e0e\u8bca\u65ad\u7684\u53ef\u9760\u6027\u3002\u4e24\u8005\u5728 COB-ID \u4e0a\u5929\u7136\u9694\u79bb\uff0c\u4e92\u4e0d\u5e72\u6270\uff0c\u8fd9\u6b63\u662f CANopen \u5728 BMS \u4e2d\u80fd\u591f\u517c\u987e\u201c\u5feb\u201d\u4e0e\u201c\u51c6\u201d\u7684\u5e95\u5c42\u539f\u56e0\u3002<\/p>\n<h4>\u8865\u5145\uff1aCANopen \u4e0e CANbus \u7684\u5bf9\u6bd4\u5206\u6790<\/h4>\n<p>\u5f88\u591a\u521d\u5b66\u8005\u5bb9\u6613\u628a CANopen \u548c CANbus \u6df7\u4e3a\u4e00\u8c08\uff0c\u5176\u5b9e\u5b83\u4eec\u662f\u4e24\u4e2a\u4e0d\u540c\u5c42\u6b21\u7684\u6982\u5ff5\u3002CANbus\uff08CAN 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\u7684\u5e27\u7ed3\u6784\uff0c\u8fdb\u4e00\u6b65\u89c4\u5b9a\u4e86\u5bf9\u8c61\u5b57\u5178\u3001\u901a\u4fe1\u5bf9\u8c61\uff08PDO\/SDO\/NMT\/\u5fc3\u8df3\uff09\u548c\u72b6\u6001\u673a\uff0c\u8ba9\u603b\u7ebf\u4e0a\u7684\u6570\u636e\u6709\u4e86\u660e\u786e\u7684\u8bed\u4e49\u3002<\/p>\n<p>\u4e3a\u4e86\u5e2e\u52a9\u8bfb\u8005\u5feb\u901f\u5398\u6e05\u4e24\u8005\u7684\u8fb9\u754c\uff0c\u4e0b\u9762\u4ece\u534f\u8bae\u5c42\u6b21\u3001\u6570\u636e\u7ec4\u7ec7\u3001\u5b9e\u65f6\u6027\u3001\u5f00\u53d1\u590d\u6742\u5ea6\u3001\u9002\u7528\u573a\u666f\u7b49\u7ef4\u5ea6\u8fdb\u884c\u5bf9\u6bd4\uff1a<\/p>\n<table>\n<tr>\n   \u5bf9\u6bd4\u7ef4\u5ea6<br \/>\n   CANbus\uff08CAN \u603b\u7ebf\uff09<br \/>\n   CANopen\uff08\u5e94\u7528\u5c42\u534f\u8bae\uff09<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>\u534f\u8bae\u5c42\u6b21<\/td>\n<td>\u7269\u7406\u5c42 + \u6570\u636e\u94fe\u8def\u5c42\uff08ISO 11898\uff09<\/td>\n<td>\u5e94\u7528\u5c42\u534f\u8bae\uff0c\u6784\u5efa\u4e8e CANbus \u4e4b\u4e0a<\/td>\n<\/tr>\n<tr>\n<td>\u6570\u636e\u8bed\u4e49<\/td>\n<td>\u53ea\u4f20\u8f93\u539f\u59cb\u5e27\uff0c\u5b57\u8282\u542b\u4e49\u7531\u7528\u6237\u81ea\u884c\u7ea6\u5b9a<\/td>\n<td>\u901a\u8fc7\u5bf9\u8c61\u5b57\u5178\u6807\u51c6\u5316\u6570\u636e\u542b\u4e49\uff0c\u7d22\u5f15\/\u5b50\u7d22\u5f15\u8bbf\u95ee<\/td>\n<\/tr>\n<tr>\n<td>\u901a\u4fe1\u65b9\u5f0f<\/td>\n<td>\u4ec5\u63d0\u4f9b\u5e27\u6536\u53d1\uff0c\u65e0\u4e3b\u4ece\u6982\u5ff5\uff0c\u6240\u6709\u8282\u70b9\u5e73\u7b49\u7ade\u4e89\u603b\u7ebf<\/td>\n<td>\u5b9a\u4e49 PDO\/SDO\/NMT\/\u5fc3\u8df3\u7b49\u901a\u4fe1\u5bf9\u8c61\uff0c\u6709\u660e\u786e\u4e3b\u4ece\u4e0e\u751f\u4ea7\u8005\/\u6d88\u8d39\u8005\u6a21\u578b<\/td>\n<\/tr>\n<tr>\n<td>\u5b9e\u65f6\u6027<\/td>\n<td>\u9ad8\uff0c\u786c\u4ef6\u4ef2\u88c1\u4fdd\u8bc1\u786e\u5b9a\u6027<\/td>\n<td>\u9ad8\uff0cPDO \u5468\u671f\u6027\/\u4e8b\u4ef6\u89e6\u53d1\uff0c\u7ee7\u627f CAN \u7684\u786e\u5b9a\u6027<\/td>\n<\/tr>\n<tr>\n<td>\u5f00\u53d1\u590d\u6742\u5ea6<\/td>\n<td>\u4f4e\uff0c\u76f4\u63a5\u64cd\u4f5c\u5e27 ID \u4e0e\u6570\u636e<\/td>\n<td>\u8f83\u9ad8\uff0c\u9700\u914d\u7f6e\u5bf9\u8c61\u5b57\u5178\u3001\u6620\u5c04\u53c2\u6570\u3001\u72b6\u6001\u673a<\/td>\n<\/tr>\n<tr>\n<td>\u53ef\u7ef4\u62a4\u6027<\/td>\n<td>\u5dee\uff0c\u6570\u636e\u683c\u5f0f\u4f9d\u8d56\u6587\u6863\u7ea6\u5b9a\uff0c\u6613\u51fa\u9519<\/td>\n<td>\u597d\uff0c\u5bf9\u8c61\u5b57\u5178\u7edf\u4e00\u7ba1\u7406\uff0c\u8de8\u5382\u5546\u53ef\u4e92\u64cd\u4f5c<\/td>\n<\/tr>\n<tr>\n<td>\u5178\u578b\u5e94\u7528\u573a\u666f<\/td>\n<td>\u7b80\u5355\u70b9\u5bf9\u70b9\u901a\u4fe1\u3001\u81ea\u5b9a\u4e49\u79c1\u6709\u534f\u8bae<\/td>\n<td>\u591a\u8282\u70b9 BMS\u3001\u4f3a\u670d\u9a71\u52a8\u3001\u5de5\u4e1a\u8bbe\u5907\u4e92\u8054\u7b49\u6807\u51c6\u5316\u573a\u666f<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u7b80\u5355\u6765\u8bf4\uff0cCANbus \u662f\u201c\u8def\u201d\uff0c\u63d0\u4f9b\u4e86\u4e00\u6761\u53ef\u9760\u3001\u5b9e\u65f6\u7684\u6570\u636e\u4f20\u8f93\u901a\u9053\uff1bCANopen \u662f\u201c\u4ea4\u901a\u89c4\u5219\u201d\uff0c\u89c4\u5b9a\u4e86\u8def\u4e0a\u8dd1\u7684\u8f66\uff08\u62a5\u6587\uff09\u5982\u4f55\u7f16\u961f\u3001\u5982\u4f55\u8ba9\u884c\u3001\u5982\u4f55\u62a5\u544a\u6545\u969c\u3002\u5728 BMS \u5de5\u7a0b\u4e2d\uff0c\u6211\u4eec\u901a\u5e38\u76f4\u63a5\u57fa\u4e8e CANbus \u786c\u4ef6\uff0c\u5728\u5176\u4e0a\u8fd0\u884c CANopen \u534f\u8bae\u6808\uff0c\u4ece\u800c\u83b7\u5f97\u6807\u51c6\u5316\u3001\u53ef\u7ef4\u62a4\u3001\u53ef\u6269\u5c55\u7684\u901a\u4fe1\u67b6\u6784\u3002\u5982\u679c\u53ea\u662f\u5c11\u91cf\u8282\u70b9\u3001\u6570\u636e\u683c\u5f0f\u56fa\u5b9a\uff0c\u76f4\u63a5\u7528 CANbus \u88f8\u5e27\u4e5f\u80fd\u6ee1\u8db3\u9700\u6c42\uff1b\u4f46\u5f53\u8282\u70b9\u589e\u591a\u3001\u53c2\u6570\u7e41\u6742\u3001\u9700\u8981\u8de8\u56e2\u961f\u534f\u4f5c\u65f6\uff0cCANopen \u7684\u6807\u51c6\u5316\u4f18\u52bf\u5c31\u4f1a\u5145\u5206\u4f53\u73b0\u51fa\u6765\u3002<\/p>\n<h3>\u2461 \u5d4c\u5165\u5f0f\u5f00\u53d1\u73af\u5883\u642d\u5efa\u4e0e\u534f\u8bae\u6808\u96c6\u6210<\/h3>\n<p>\u5de5\u6b32\u5584\u5176\u4e8b\uff0c\u5fc5\u5148\u5229\u5176\u5668\u3002\u5728\u5f00\u59cb\u7f16\u5199 BMS \u901a\u4fe1\u903b\u8f91\u524d\uff0c\u642d\u5efa\u4e00\u4e2a\u9ad8\u6548\u7684\u5f00\u53d1\u73af\u5883\u81f3\u5173\u91cd\u8981\u3002\u76ee\u524d\u4e3b\u6d41\u7684\u5d4c\u5165\u5f0f\u5e73\u53f0\u5982 STM32\u3001NXP S32K \u7cfb\u5217\u7b49\uff0c\u90fd\u62e5\u6709\u5b8c\u5584\u7684 CAN \u63a7\u5236\u5668\u652f\u6301\u3002\u5f00\u53d1\u73af\u5883\u901a\u5e38\u9009\u62e9 Keil MDK\u3001IAR EWARM \u6216\u57fa\u4e8e VS Code \u7684 GCC \u5de5\u5177\u94fe\u3002\u5173\u952e\u5728\u4e8e\u534f\u8bae\u6808\u7684\u9009\u62e9\u4e0e\u96c6\u6210\u3002<\/p>\n<p>\u5bf9\u4e8e\u8d44\u6e90\u53d7\u9650\u7684 MCU\uff0c\u53ef\u4ee5\u9009\u62e9\u8f7b\u91cf\u7ea7\u7684\u5f00\u6e90\u534f\u8bae\u6808\uff0c\u5982 CanFestival \u6216 OpenCANopen\uff0c\u4f46\u9700\u6ce8\u610f\u5176\u5bf9 BMS \u7279\u5b9a\u529f\u80fd\u7684\u88c1\u526a\u4e0e\u9002\u914d\u3002\u82e5\u9879\u76ee\u5bf9\u529f\u80fd\u5b89\u5168\uff08ISO 26262\uff09\u6709\u8981\u6c42\uff0c\u5219\u5efa\u8bae\u91c7\u7528\u7ecf\u8fc7\u8ba4\u8bc1\u7684\u5546\u4e1a\u534f\u8bae\u6808\u3002\u96c6\u6210\u6b65\u9aa4\u901a\u5e38\u5982\u4e0b\uff1a\u9996\u5148\uff0c\u5c06\u534f\u8bae\u6808\u7684\u6838\u5fc3\u6e90\u7801\uff08\u5305\u62ec CO_OD.c, CO_NMT.c, CO_PDO.c \u7b49\uff09\u590d\u5236\u5230\u5de5\u7a0b\u7684\u9a71\u52a8\u76ee\u5f55\uff1b\u5176\u6b21\uff0c\u914d\u7f6e\u786c\u4ef6\u62bd\u8c61\u5c42\uff08HAL\uff09\uff0c\u5c06\u534f\u8bae\u6808\u7684\u5e95\u5c42\u53d1\u9001\u4e0e\u63a5\u6536\u63a5\u53e3\u6620\u5c04\u5230 MCU \u7684 CAN \u9a71\u52a8\u51fd\u6570\u4e0a\u3002<\/p>\n<p>\u8fd9\u91cc\u9700\u8981\u7279\u522b\u6ce8\u610f\u4e2d\u65ad\u4f18\u5148\u7ea7\u7684\u914d\u7f6e\u3002CAN \u63a5\u6536\u4e2d\u65ad\u5e94\u8bbe\u7f6e\u4e3a\u8f83\u9ad8\u4f18\u5148\u7ea7\uff0c\u4ee5\u786e\u4fdd\u62a5\u6587\u4e0d\u88ab\u4e22\u5931\uff0c\u4f46\u534f\u8bae\u6808\u5185\u90e8\u7684\u4efb\u52a1\u8c03\u5ea6\uff08\u5982\u5fc3\u8df3\u53d1\u9001\u3001PDO \u5468\u671f\u5904\u7406\uff09\u901a\u5e38\u9700\u8981\u5728\u4e3b\u5faa\u73af\u6216\u5b9a\u65f6\u5668\u4e2d\u65ad\u4e2d\u6267\u884c\u3002\u5efa\u8bae\u5728 main.c \u4e2d\u5efa\u7acb\u4e00\u4e2a\u65f6\u95f4\u57fa\u51c6\u5b9a\u65f6\u5668\uff08\u5982 1ms \u4e2d\u65ad\uff09\uff0c\u5e76\u5728\u5176\u4e2d\u8c03\u7528\u534f\u8bae\u6808\u7684 CO_TickFunction()\uff0c\u8fd9\u662f\u7ef4\u6301\u534f\u8bae\u6808\u5185\u90e8\u65f6\u949f\u548c\u72b6\u6001\u673a\u6d41\u8f6c\u7684\u5fc3\u810f\u3002\u5982\u679c\u8fd9\u4e00\u6b65\u9057\u6f0f\uff0c\u6574\u4e2a\u901a\u4fe1\u7f51\u7edc\u5c06\u9677\u5165\u505c\u6ede\u3002<\/p>\n<p>\u4e3a\u4e86\u8ba9\u65b0\u624b\u5c11\u8d70\u5f2f\u8def\uff0c\u4e0b\u9762\u7ed9\u51fa\u4e00\u4e2a\u6700\u5c0f\u53ef\u7528\u7684\u96c6\u6210\u6e05\u5355\uff0c\u6309\u987a\u5e8f\u6838\u5bf9\u5373\u53ef\u907f\u514d\u5927\u90e8\u5206\u201c\u901a\u800c\u4e0d\u7545\u201d\u7684\u95ee\u9898\uff1a<\/p>\n<li>\u786e\u8ba4 CAN \u5916\u8bbe\u65f6\u949f\u5df2\u4f7f\u80fd\uff1a\u5728 System_Init() \u4e2d\u5f00\u542f CAN \u63a7\u5236\u5668\u6240\u5728\u603b\u7ebf\u7684\u65f6\u949f\uff08\u5982 STM32 \u7684 APB1\uff09\uff0c\u5426\u5219\u5bc4\u5b58\u5668\u8bfb\u5199\u65e0\u6548\u3002<\/li>\n<li>\u914d\u7f6e CAN \u5f15\u811a\u590d\u7528\uff1a\u5c06 TX\/RX \u5f15\u811a\u6620\u5c04\u5230 CAN \u5916\u8bbe\uff0c\u5e76\u8bbe\u7f6e\u4e3a\u63a8\u633d\u590d\u7528\u6a21\u5f0f\uff0c\u6ce2\u7279\u7387\u6309\u5168\u7f51\u7edf\u4e00\u503c\uff08\u5982 500kbps\uff09\u914d\u7f6e\u3002<\/li>\n<li>\u4f7f\u80fd CAN \u63a5\u6536\u4e2d\u65ad\uff1a\u5728 NVIC \u4e2d\u5f00\u542f CAN RX \u4e2d\u65ad\uff0c\u5e76\u8bbe\u7f6e\u5408\u7406\u4f18\u5148\u7ea7\uff08\u5efa\u8bae\u9ad8\u4e8e\u666e\u901a\u5916\u8bbe\u4e2d\u65ad\uff09\u3002<\/li>\n<li>\u6ce8\u518c\u534f\u8bae\u6808\u65f6\u57fa\uff1a\u542f\u52a8 1ms \u5b9a\u65f6\u5668\u4e2d\u65ad\uff0c\u5728\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u4e2d\u8c03\u7528 CO_TickFunction()\u3002<\/li>\n<li>\u521d\u59cb\u5316\u534f\u8bae\u6808\uff1a\u8c03\u7528 CO_Init() \u5b8c\u6210\u5bf9\u8c61\u5b57\u5178\u3001NMT\u3001PDO\u3001SDO \u7b49\u6a21\u5757\u7684\u521d\u59cb\u5316\uff0c\u5e76\u6ce8\u518c\u5e95\u5c42\u6536\u53d1\u56de\u8c03\u3002<\/li>\n<p>\u4e0b\u9762\u662f\u4e00\u4e2a\u5178\u578b\u7684\u534f\u8bae\u6808\u96c6\u6210\u9aa8\u67b6\uff0c\u5c55\u793a\u4e86 HAL \u5c42\u4e0e\u534f\u8bae\u6808\u7684\u5bf9\u63a5\u65b9\u5f0f\uff1a<\/p>\n<p><span class=\"token comment\">\/* &#8212;&#8212;&#8212;- \u786c\u4ef6\u62bd\u8c61\u5c42\uff1aCAN \u6536\u53d1\u63a5\u53e3 &#8212;&#8212;&#8212;- *\/<\/span><br \/>\n<span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_Send_Frame<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span> cob_id<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> <span class=\"token operator\">*<\/span>data<span class=\"token punctuation\">,<\/span> <span class=\"token class-name\">uint8_t<\/span> len<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/* \u5c06 COB-ID \u4e0e\u6570\u636e\u6253\u5305\u6210 CAN \u5e27\uff0c\u8c03\u7528 MCU \u9a71\u52a8\u53d1\u9001 *\/<\/span><br \/>\n    <span class=\"token function\">CAN_TxFrame<\/span><span class=\"token punctuation\">(<\/span>cob_id<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> len<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#8212;&#8212;&#8212;- \u534f\u8bae\u6808\u5e95\u5c42\u56de\u8c03\u6ce8\u518c &#8212;&#8212;&#8212;- *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/* \u6ce8\u518c\u53d1\u9001\u56de\u8c03\uff1a\u534f\u8bae\u6808\u5185\u90e8\u6240\u6709\u62a5\u6587\u90fd\u8d70\u8fd9\u91cc *\/<\/span><br \/>\n    <span class=\"token function\">CO_Register_SendCallback<\/span><span class=\"token punctuation\">(<\/span>CAN_Send_Frame<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u6ce8\u518c\u63a5\u6536\u56de\u8c03\uff1aCAN \u4e2d\u65ad\u6536\u5230\u5e27\u540e\u4ea4\u7ed9\u534f\u8bae\u6808\u89e3\u6790 *\/<\/span><br \/>\n    <span class=\"token function\">CO_Register_RxCallback<\/span><span class=\"token punctuation\">(<\/span>CO_Process_RxFrame<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u521d\u59cb\u5316\u5bf9\u8c61\u5b57\u5178\u3001NMT\u3001PDO\u3001SDO \u7b49\u6a21\u5757 *\/<\/span><br \/>\n    <span class=\"token function\">CO_OD_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">CO_NMT_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">CO_PDO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">CO_SDO_Init<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#8212;&#8212;&#8212;- 1ms \u5b9a\u65f6\u5668\u4e2d\u65ad\uff1a\u534f\u8bae\u6808\u65f6\u57fa &#8212;&#8212;&#8212;- *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">Timer_ISR_1ms<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token function\">CO_TickFunction<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* \u9a71\u52a8\u5fc3\u8df3\u3001PDO \u5468\u671f\u3001\u8d85\u65f6\u7b49\u5185\u90e8\u903b\u8f91 *\/<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token comment\">\/* &#8212;&#8212;&#8212;- CAN \u63a5\u6536\u4e2d\u65ad &#8212;&#8212;&#8212;- *\/<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">CAN_RX_ISR<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token class-name\">uint32_t<\/span> cob_id<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> data<span class=\"token punctuation\">[<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token class-name\">uint8_t<\/span> len<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">CAN_ReadFrame<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>cob_id<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>len<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n        <span class=\"token function\">CO_Process_RxFrame<\/span><span class=\"token punctuation\">(<\/span>cob_id<span class=\"token punctuation\">,<\/span> data<span class=\"token punctuation\">,<\/span> len<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* \u4ea4\u7ed9\u534f\u8bae\u6808\u89e3\u6790 *\/<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u96c6\u6210\u5b8c\u6210\u540e\uff0c\u5efa\u8bae\u5148\u7528\u4e00\u4e2a\u7a7a\u8282\u70b9\uff08\u53ea\u53d1\u5fc3\u8df3\u3001\u4e0d\u6620\u5c04 PDO\uff09\u505a\u5192\u70df\u6d4b\u8bd5\uff1a\u4e0a\u7535\u540e\u89c2\u5bdf\u5fc3\u8df3\u62a5\u6587\u662f\u5426\u6309 100ms \u5468\u671f\u7a33\u5b9a\u53d1\u51fa\u3002\u8fd9\u4e00\u6b65\u80fd\u5feb\u901f\u9a8c\u8bc1 HAL \u5c42\u3001\u65f6\u57fa\u548c\u4e2d\u65ad\u94fe\u8def\u662f\u5426\u6253\u901a\uff0c\u518d\u9010\u6b65\u53e0\u52a0 PDO \u4e0e SDO \u529f\u80fd\uff0c\u907f\u514d\u4e00\u6b21\u6027\u96c6\u6210\u8fc7\u591a\u6a21\u5757\u5bfc\u81f4\u95ee\u9898\u96be\u4ee5\u5b9a\u4f4d\u3002<\/p>\n<h3>\u2462 \u5bf9\u8c61\u5b57\u5178\u914d\u7f6e\u4e0e BMS \u53c2\u6570\u6620\u5c04\u65b9\u6cd5<\/h3>\n<p>\u5bf9\u8c61\u5b57\u5178\u662f BMS \u4e0e\u5916\u90e8\u4e16\u754c\u4ea4\u4e92\u7684\u63a5\u53e3\uff0c\u5176\u914d\u7f6e\u7684\u5408\u7406\u6027\u76f4\u63a5\u5f71\u54cd\u7cfb\u7edf\u7684\u53ef\u7ef4\u62a4\u6027\u3002\u5728 C \u8bed\u8a00\u5b9e\u73b0\u4e2d\uff0c\u5bf9\u8c61\u5b57\u5178\u901a\u5e38\u8868\u73b0\u4e3a\u4e00\u4e2a\u7ed3\u6784\u4f53\u6570\u7ec4\u3002\u9488\u5bf9 BMS \u7279\u6027\uff0c\u6211\u4eec\u9700\u8981\u89c4\u5212\u597d\u5b58\u50a8\u533a\u57df\u3002<\/p>\n<p>\u9996\u5148\uff0c\u5efa\u8bae\u5c06 BMS \u7684\u53c2\u6570\u6309\u529f\u80fd\u57df\u5212\u5206\uff0c\u4fbf\u4e8e\u540e\u7eed\u7ef4\u62a4\u4e0e\u6269\u5c55\u3002\u4e00\u4e2a\u5178\u578b\u7684\u5212\u5206\u65b9\u5f0f\u5982\u4e0b\uff1a<\/p>\n<table>\n<tr>\n   \u529f\u80fd\u57df<br \/>\n   \u7d22\u5f15\u8303\u56f4<br \/>\n   \u5178\u578b\u53c2\u6570<br \/>\n  <\/tr>\n<tbody>\n<tr>\n<td>\u8bbe\u5907\u4fe1\u606f<\/td>\n<td>0x1000-0x1FFF<\/td>\n<td>\u5382\u5546\u540d\u79f0\u3001\u8bbe\u5907\u7c7b\u578b\u3001\u8f6f\u4ef6\u7248\u672c<\/td>\n<\/tr>\n<tr>\n<td>\u5b9e\u65f6\u6570\u636e<\/td>\n<td>0x2000-0x2FFF<\/td>\n<td>\u5355\u4f53\u7535\u538b\u3001\u6e29\u5ea6\u3001\u603b\u7535\u6d41\u3001SOC<\/td>\n<\/tr>\n<tr>\n<td>\u914d\u7f6e\u53c2\u6570<\/td>\n<td>0x3000-0x3FFF<\/td>\n<td>\u8fc7\u538b\u9608\u503c\u3001\u6b20\u538b\u9608\u503c\u3001\u6e29\u5ea6\u4fdd\u62a4\u4e0a\u9650<\/td>\n<\/tr>\n<tr>\n<td>\u8bca\u65ad\u4fe1\u606f<\/td>\n<td>0x4000-0x4FFF<\/td>\n<td>\u6545\u969c\u7801\u3001\u9519\u8bef\u5bc4\u5b58\u5668\u3001\u8fd0\u884c\u65e5\u5fd7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4f8b\u5982\uff0c\u6211\u4eec\u53ef\u4ee5\u5b9a\u4e49\u5982\u4e0b\u7ed3\u6784\u6765\u6620\u5c04\u7535\u6c60\u6570\u636e\uff1a<\/p>\n<p><span class=\"token comment\">\/* \u5b9a\u4e49 BMS \u5b9e\u65f6\u6570\u636e\u7ed3\u6784 *\/<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> cell_voltages<span class=\"token punctuation\">[<\/span><span class=\"token number\">16<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ 16 \u4e32\u7535\u6c60\u7535\u538b\uff0c\u5355\u4f4d mV<\/span><br \/>\n    <span class=\"token class-name\">int16_t<\/span> temperatures<span class=\"token punctuation\">[<\/span><span class=\"token number\">8<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>    <span class=\"token comment\">\/\/ 8 \u4e2a\u6e29\u5ea6\u70b9\uff0c\u5355\u4f4d 0.1\u00b0C<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> pack_current<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/\/ \u603b\u7535\u6d41\uff0c\u5355\u4f4d 0.1A<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> soc<span class=\"token punctuation\">;<\/span>               <span class=\"token comment\">\/\/ \u5269\u4f59\u7535\u91cf\uff0c0-100%<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> BMS_RealTimeData_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* \u5168\u5c40\u5b9e\u4f8b *\/<\/span><br \/>\nBMS_RealTimeData_t bms_data<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* \u5b9a\u4e49 BMS \u914d\u7f6e\u53c2\u6570\u7ed3\u6784 *\/<\/span><br \/>\n<span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> ovp_threshold<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u8fc7\u538b\u4fdd\u62a4\u9608\u503c\uff0c\u5355\u4f4d mV<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> uvp_threshold<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/\/ \u6b20\u538b\u4fdd\u62a4\u9608\u503c\uff0c\u5355\u4f4d mV<\/span><br \/>\n    <span class=\"token class-name\">uint16_t<\/span> temp_limit<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u6e29\u5ea6\u4fdd\u62a4\u4e0a\u9650\uff0c\u5355\u4f4d 0.1\u00b0C<\/span><br \/>\n<span class=\"token punctuation\">}<\/span> BMS_Config_t<span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* \u5168\u5c40\u5b9e\u4f8b *\/<\/span><br \/>\nBMS_Config_t bms_config<span class=\"token punctuation\">;<\/span><\/p>\n<p>\u5728\u5bf9\u8c61\u5b57\u5178\u6587\u4ef6\u4e2d\uff0c\u9700\u8981\u5c06\u4e0a\u8ff0\u53d8\u91cf\u4e0e CANopen \u7d22\u5f15\u7ed1\u5b9a\u3002\u5047\u8bbe\u6211\u4eec\u5c06\u5b9e\u65f6\u6570\u636e\u6620\u5c04\u5230\u5236\u9020\u5546\u81ea\u5b9a\u4e49\u533a\u57df\uff080x2000-0x5FFF\uff09\uff1a<\/p>\n<p><span class=\"token comment\">\/* \u5bf9\u8c61\u5b57\u5178\u6761\u76ee\u793a\u4f8b *\/<\/span><br \/>\n<span class=\"token keyword\">const<\/span> CO_OD_entry_t CO_OD<span class=\"token punctuation\">[<\/span>CO_OD_NUM_ENTRIES<span class=\"token punctuation\">]<\/span> <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><br \/>\n    <span class=\"token comment\">\/* \u7d22\u5f15 0x2001: \u5355\u4f53\u7535\u538b\u6570\u7ec4 *\/<\/span><br \/>\n    <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><span class=\"token number\">0x2001<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x42<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&amp;<\/span>bms_data<span class=\"token punctuation\">.<\/span>cell_voltages<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>bms_data<span class=\"token punctuation\">.<\/span>cell_voltages<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u7d22\u5f15 0x2002: \u6e29\u5ea6\u6570\u7ec4 *\/<\/span><br \/>\n    <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><span class=\"token number\">0x2002<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x42<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&amp;<\/span>bms_data<span class=\"token punctuation\">.<\/span>temperatures<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>bms_data<span class=\"token punctuation\">.<\/span>temperatures<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u7d22\u5f15 0x2003: SOC \u503c\uff0c\u53ea\u8bfb *\/<\/span><br \/>\n    <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><span class=\"token number\">0x2003<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x07<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&amp;<\/span>bms_data<span class=\"token punctuation\">.<\/span>soc<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u7d22\u5f15 0x3001: \u8fc7\u538b\u4fdd\u62a4\u9608\u503c\uff0c\u53ef\u8bfb\u5199 *\/<\/span><br \/>\n    <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><span class=\"token number\">0x3001<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x42<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&amp;<\/span>bms_config<span class=\"token punctuation\">.<\/span>ovp_threshold<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">,<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u7d22\u5f15 0x3002: \u6b20\u538b\u4fdd\u62a4\u9608\u503c\uff0c\u53ef\u8bfb\u5199 *\/<\/span><br \/>\n    <span class=\"token punctuation\">{<\/p>\n<p>   <\/span><span class=\"token number\">0x3002<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x42<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">0x00<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&amp;<\/span>bms_config<span class=\"token punctuation\">.<\/span>uvp_threshold<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint16_t<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u8fd9\u91cc\u7684\u5c5e\u6027\u4f4d\uff08\u5982 0x42 \u8868\u793a\u53ef\u8bfb\u53ef\u5199\uff0c0x07 \u8868\u793a\u53ea\u8bfb\uff09\u9700\u8981\u6839\u636e\u5b9e\u9645\u4e1a\u52a1\u903b\u8f91\u4e25\u683c\u8bbe\u5b9a\u3002\u5bf9\u4e8e\u7535\u6c60\u7535\u538b\u7b49\u5b9e\u65f6\u53d8\u5316\u7684\u91cf\uff0c\u901a\u5e38\u8bbe\u4e3a\u53ea\u8bfb\uff0c\u9632\u6b62\u5916\u90e8\u8bef\u5199\uff1b\u800c\u5bf9\u4e8e\u8fc7\u538b\u4fdd\u62a4\u9608\u503c\u7b49\u53c2\u6570\uff0c\u5219\u5e94\u8bbe\u4e3a\u53ef\u5199\uff0c\u4ee5\u4fbf\u52a8\u6001\u8c03\u6574\u3002\u6620\u5c04\u65f6\u8fd8\u8981\u6ce8\u610f\u6570\u636e\u5bf9\u9f50\u548c\u5927\u5c0f\u7aef\u95ee\u9898\uff0c\u786e\u4fdd\u4e0a\u4f4d\u673a\u89e3\u6790\u51fa\u7684\u6570\u503c\u4e0e MCU \u5185\u5b58\u4e2d\u4e00\u81f4\u3002<\/p>\n<p>\u6700\u540e\uff0c\u5efa\u8bae\u4e3a\u6bcf\u4e2a\u5bf9\u8c61\u5b57\u5178\u6761\u76ee\u8865\u5145\u6ce8\u91ca\u6587\u6863\uff0c\u8bb0\u5f55\u53c2\u6570\u7684\u5355\u4f4d\u3001\u53d6\u503c\u8303\u56f4\u548c\u7269\u7406\u542b\u4e49\u3002\u8fd9\u6837\u5f53\u56e2\u961f\u534f\u4f5c\u6216\u540e\u7eed\u7ef4\u62a4\u65f6\uff0c\u5373\u4f7f\u4e0d\u770b\u4ee3\u7801\uff0c\u4e5f\u80fd\u901a\u8fc7\u5bf9\u8c61\u5b57\u5178\u5feb\u901f\u5b9a\u4f4d\u6bcf\u4e2a\u53c2\u6570\u7684\u4f5c\u7528\uff0c\u907f\u514d\u201c\u6539\u4e00\u4e2a\u5b57\u8282\u3001\u67e5\u534a\u5929\u6587\u6863\u201d\u7684\u5c34\u5c2c\u3002<\/p>\n<h3>\u2463 NMT \u72b6\u6001\u673a\u7ba1\u7406\u4e0e\u8282\u70b9\u521d\u59cb\u5316\u6d41\u7a0b<\/h3>\n<p>NMT\uff08Network Management\uff09\u72b6\u6001\u673a\u662f CANopen \u8282\u70b9\u7684\u6307\u6325\u4e2d\u5fc3\u3002\u4e00\u4e2a\u6807\u51c6\u7684 BMS 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