{"id":119977,"date":"2026-10-30T21:32:42","date_gmt":"2026-10-30T13:32:42","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/119977.html"},"modified":"2026-10-30T21:32:42","modified_gmt":"2026-10-30T13:32:42","slug":"can-%e6%8a%80%e6%9c%af%e7%b3%bb%e5%88%97-07-%c2%b7-can-%e9%ab%98%e5%b1%82%e5%8d%8f%e8%ae%ae","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/119977.html","title":{"rendered":"CAN \u6280\u672f\u7cfb\u5217 07 \u00b7 CAN \u9ad8\u5c42\u534f\u8bae"},"content":{"rendered":"

📚 CAN\u603b\u7ebf\u6280\u672f\u7cfb\u5217 \u00b7 \u6301\u7eed\u66f4\u65b0\u4e2d<\/b><\/font> <\/p>\n

\u672c\u7cfb\u5217\u4ece\u5dee\u5206\u7535\u6c14\u5c42\u4e00\u8def\u6253\u5230 Linux SocketCAN,\u628a"\u4e24\u6839\u7ebf"\u80cc\u540e\u7684\u7535\u6c14\/\u534f\u8bae\/\u63a7\u5236\u5668\/\u9a71\u52a8\/\u5b9e\u6218\u5168\u62e7\u6210\u4e00\u6839\u7ebf\u3002<\/p>\n

👉 \u60f3\u7cfb\u7edf\u8ffd\u66f4，\u6233\u8fd9\u91cc\u67e5\u770b\u5b8c\u6574\u4e13\u680f： \u3010CAN \u6280\u672f\u7cfb\u5217\u3011 👉 \u5176\u4ed6\u6280\u672f\u7cfb\u5217\u4e13\u680f，\u6b22\u8fce\u5173\u6ce8\u3001\u4ea4\u6d41\u3001\u5171\u540c\u6210\u957f： \u3010SPI \u6280\u672f\u7cfb\u5217\u3011 \u3010I2C \u6280\u672f\u7cfb\u5217\u3011 \u3010\u4e32\u53e3\u6280\u672f\u7cfb\u5217\u3011\u3010RISC-V \u67b6\u6784\u7cfb\u5217\u3011\u3010Linux\u5185\u6838\u7cfb\u5217\u3011 \u3010\u64cd\u4f5c\u7cfb\u7edf\u8bbe\u8ba1\u601d\u60f3\u7cfb\u5217\u3011 \u3010 Android \u7cfb\u7edf\u5168\u666f\u4e13\u680f\u3011<\/p>\n

\n

\u672c\u7bc7\u5b9a\u4f4d:CAN \u53ea\u89c4\u5b9a\u5230\u6570\u636e\u94fe\u8def\u5c42(ID+8\u5b57\u8282),\u600e\u4e48\u7528\u8fd9 8 \u5b57\u8282\u4f20\u8bed\u4e49?\u9760\u9ad8\u5c42\u534f\u8bae\u3002\u672c\u7bc7\u8bb2\u56db\u5927\u4e3b\u6d41\u9ad8\u5c42\u534f\u8bae:CANopen(\u5de5\u4e1a\u81ea\u52a8\u5316,CiA 301)\u3001J1939(\u5546\u7528\u8f66,29bit ID \u7f16\u7801)\u3001UDS(\u6c7d\u8f66\u8bca\u65ad,ISO 14229)\u3001ISO-TP(\u5927\u62a5\u6587\u5206\u5305,ISO 15765)\u3002\u8bfb\u5b8c\u4f60\u7406\u89e3 CAN 8 \u5b57\u8282\u600e\u4e48\u627f\u8f7d\u590d\u6742\u901a\u4fe1,\u4ee5\u53ca AEGIX \u6c7d\u8f66\u8bca\u65ad\u8981\u7528 UDS\u3002<\/p>\n

CAN \u53ea\u6709 ID+8 \u5b57\u8282,\u9ad8\u5c42\u534f\u8bae\u8d4b\u4e88\u8bed\u4e49 SPI\/I2C \u662f\u88f8\u5b57\u8282,\u8bed\u4e49\u5168\u9760\u5e94\u7528\u81ea\u5df1\u5b9a\u3002CAN \u4e5f\u662f\u88f8 ID+8 \u5b57\u8282,\u4f46\u6c7d\u8f66\/\u5de5\u4e1a\u573a\u666f\u590d\u6742(\u8bca\u65ad\/\u5927\u62a5\u6587\/\u53c2\u6570\u7ec4),\u9760\u9ad8\u5c42\u534f\u8bae\u7edf\u4e00\u8bed\u4e49\u3002CANopen \u5b9a\u4e49\u5bf9\u8c61\u5b57\u5178,J1939 \u7528 29bit ID \u7f16\u7801\u53c2\u6570\u7ec4,UDS \u5b9a\u4e49\u8bca\u65ad\u670d\u52a1,ISO-TP \u628a 8 \u5b57\u8282\u62fc\u6210\u5927\u62a5\u6587\u3002\u6c7d\u8f66\u82af\u7247,UDS \u8bca\u65ad\u548c ISO-TP \u662f\u5fc5\u4f1a\u3002\u8fd9\u662f L2 \u534f\u8bae\u5c42\u6536\u5b98\u7bc7,\u7406\u89e3\u9ad8\u5c42\u534f\u8bae\u624d\u7b97\u61c2 CAN \u5e94\u7528\u3002<\/p>\n

\n

\u76ee\u5f55<\/h4>\n
    \n
  • \u4e00\u3001\u4e3a\u4ec0\u4e48\u9700\u8981\u9ad8\u5c42\u534f\u8bae<\/li>\n
  • \n
      \n
    • 1.1 CAN \u7684\u5c40\u9650<\/li>\n
    • 1.2 \u9ad8\u5c42\u534f\u8bae\u8865\u4ec0\u4e48<\/li>\n
    • 1.3 \u56db\u5927\u4e3b\u6d41\u9ad8\u5c42\u534f\u8bae<\/li>\n<\/ul>\n<\/li>\n
    • \u4e8c\u3001CANopen(CiA 301)<\/li>\n
    • \n
        \n
      • 2.1 CANopen \u67b6\u6784<\/li>\n
      • 2.2 \u5bf9\u8c61\u5b57\u5178(Object Dictionary, OD)<\/li>\n
      • 2.3 PDO(Process Data Object,\u8fc7\u7a0b\u6570\u636e)<\/li>\n
      • 2.4 SDO(Service Data Object,\u670d\u52a1\u6570\u636e)<\/li>\n
      • 2.5 \u5fc3\u8df3(Heartbeat)<\/li>\n
      • 2.6 NMT(Network Management)<\/li>\n<\/ul>\n<\/li>\n
      • \u4e09\u3001SAE J1939<\/li>\n
      • \n
          \n
        • 3.1 J1939 \u6982\u8ff0<\/li>\n
        • 3.2 29bit ID \u7f16\u7801<\/li>\n
        • 3.3 \u53c2\u6570\u7ec4(PGN)<\/li>\n
        • 3.4 PDU1 vs PDU2<\/li>\n
        • 3.5 \u4f20\u8f93\u534f\u8bae(BAM\/RTS)<\/li>\n<\/ul>\n<\/li>\n
        • \u56db\u3001UDS(ISO 14229)<\/li>\n
        • \n
            \n
          • 4.1 UDS \u6982\u8ff0<\/li>\n
          • 4.2 \u8bca\u65ad ID<\/li>\n
          • 4.3 \u5e38\u7528\u670d\u52a1<\/li>\n
          • 4.4 \u4f1a\u8bdd\u63a7\u5236(0x10)<\/li>\n
          • 4.5 \u8bfb\u6570\u636e(0x22)<\/li>\n
          • 4.6 \u5199\u6570\u636e(0x2E)<\/li>\n
          • 4.7 \u5b89\u5168\u8bbf\u95ee(0x27)<\/li>\n
          • 4.8 \u5237\u5199\u6d41\u7a0b(0x34\/0x36\/0x37)<\/li>\n
          • 4.9 \u5426\u5b9a\u54cd\u5e94(NRC)<\/li>\n<\/ul>\n<\/li>\n
          • \u4e94\u3001ISO-TP(ISO 15765)<\/li>\n
          • \n
              \n
            • 5.1 ISO-TP \u6982\u8ff0<\/li>\n
            • 5.2 \u5e27\u7c7b\u578b<\/li>\n
            • 5.3 \u5355\u5e27(Single Frame)<\/li>\n
            • 5.4 \u591a\u5e27(\u9996\u5e27 + \u6d41\u63a7 + \u7eed\u5e27)<\/li>\n
            • 5.5 \u6d41\u63a7\u5236(FC)<\/li>\n
            • 5.6 \u5206\u5305\u6d41\u7a0b\u56fe<\/li>\n
            • 5.7 ISO-TP \u72b6\u6001\u673a<\/li>\n
            • 5.8 \u8d85\u65f6<\/li>\n<\/ul>\n<\/li>\n
            • \u516d\u3001CAN FD \u4e0e\u9ad8\u5c42\u534f\u8bae\u9002\u914d<\/li>\n
            • \n
                \n
              • 6.1 CAN FD \u5927\u5e27\u4f18\u52bf<\/li>\n
              • 6.2 ISO-TP FD \u9002\u914d<\/li>\n
              • 6.3 CANopen FD<\/li>\n
              • 6.4 J1939 FD<\/li>\n
              • 6.5 UDS + CAN FD<\/li>\n<\/ul>\n<\/li>\n
              • \u4e03\u3001\u5173\u952e\u95ee\u9898 Q&A<\/li>\n
              • \n
                  \n
                • Q1:CANopen \u7684 PDO \u548c SDO \u6709\u4ec0\u4e48\u533a\u522b?<\/li>\n
                • Q2:J1939 \u600e\u4e48\u7528 29bit ID \u7f16\u7801?<\/li>\n
                • Q3:UDS \u5237\u5199 ECU \u5b8c\u6574\u6d41\u7a0b?<\/li>\n
                • Q4:ISO-TP \u5355\u5e27\u548c\u591a\u5e27\u600e\u4e48\u5206?<\/li>\n
                • Q5:ISO-TP \u6d41\u63a7\u5236(FC)\u4ec0\u4e48\u4f5c\u7528?<\/li>\n
                • Q6:CAN FD \u5bf9\u9ad8\u5c42\u534f\u8bae\u6709\u4ec0\u4e48\u5f71\u54cd?<\/li>\n<\/ul>\n<\/li>\n
                • \u516b\u3001\u5b9e\u6218\u6848\u4f8b<\/li>\n
                • \n
                    \n
                  • \u6848\u4f8b 1:CANopen \u8282\u70b9\u5fc3\u8df3\u4e22\u5931\u544a\u8b66<\/li>\n
                  • \u6848\u4f8b 2:J1939 \u53d1\u52a8\u673a\u8f6c\u901f\u89e3\u6790\u9519<\/li>\n
                  • \u6848\u4f8b 3:UDS \u8bfb VIN \u5931\u8d25<\/li>\n
                  • \u6848\u4f8b 4:UDS \u5237\u5199\u4e2d\u9014\u65ad<\/li>\n
                  • \u6848\u4f8b 5:ISO-TP \u591a\u5e27\u63a5\u6536\u65b9\u4e0d\u56de FC<\/li>\n
                  • \u6848\u4f8b 6:CAN FD \u5237\u5199\u6bd4\u7ecf\u5178\u5feb\u591a\u5c11?<\/li>\n
                  • \u6848\u4f8b 7:J1939 \u591a\u5305\u62a5\u6587 BAM \u4f20\u8f93<\/li>\n
                  • \u6848\u4f8b 8:CANopen SDO \u4e0b\u8f7d\u5199\u53c2\u6570<\/li>\n<\/ul>\n<\/li>\n
                  • \u4e5d\u3001\u672c\u7bc7\u5c0f\u7ed3\u4e0e\u901f\u67e5<\/li>\n
                  • \n
                      \n
                    • \u6838\u5fc3\u8981\u70b9<\/li>\n
                    • CANopen \u901f\u67e5<\/li>\n
                    • J1939 ID \u901f\u67e5<\/li>\n
                    • UDS \u670d\u52a1\u901f\u67e5<\/li>\n
                    • ISO-TP \u5e27\u901f\u67e5<\/li>\n
                    • \u6c7d\u8f66\u8bca\u65ad\u8981\u70b9<\/li>\n<\/ul>\n<\/li>\n
                    • \u5ef6\u4f38\u9605\u8bfb<\/li>\n
                    • \u53c2\u8003\u8d44\u6599<\/li>\n<\/ul>\n
                      \n

                      \u4e00\u3001\u4e3a\u4ec0\u4e48\u9700\u8981\u9ad8\u5c42\u534f\u8bae<\/h2>\n

                      1.1 CAN \u7684\u5c40\u9650<\/h3>\n

                      CAN \u6570\u636e\u94fe\u8def\u5c42\u53ea\u63d0\u4f9b:<\/p>\n

                        \n
                      • ID(11\/29bit)+ 8 \u5b57\u8282\u6570\u636e(\u7ecf\u5178)\/ 64 \u5b57\u8282(FD)<\/li>\n
                      • \u65e0\u5730\u5740(\u53ea\u6709 ID)\u3001\u65e0\u5927\u62a5\u6587\u3001\u65e0\u670d\u52a1\u5b9a\u4e49<\/li>\n<\/ul>\n

                        1.2 \u9ad8\u5c42\u534f\u8bae\u8865\u4ec0\u4e48<\/h3>\n\n\u9700\u6c42CAN \u94fe\u8def\u5c42\u9ad8\u5c42\u534f\u8bae\u8865<\/tr>\n\n\n\n\n\n\n\n
                        \u6570\u636e\u8bed\u4e49<\/td>\n\u88f8\u5b57\u8282<\/td>\n\u5b9a\u4e49\u5b57\u6bb5\u542b\u4e49<\/td>\n<\/tr>\n
                        \u5927\u62a5\u6587<\/td>\n\u22648B<\/td>\n\u5206\u5305(ISO-TP)<\/td>\n<\/tr>\n
                        \u8bca\u65ad<\/td>\n\u65e0<\/td>\n\u670d\u52a1\u5b9a\u4e49(UDS)<\/td>\n<\/tr>\n
                        \u8282\u70b9\u5bfb\u5740<\/td>\nID<\/td>\n\u6e90\/\u76ee\u5730\u5740(J1939)<\/td>\n<\/tr>\n
                        \u914d\u7f6e\u7ba1\u7406<\/td>\n\u65e0<\/td>\n\u5bf9\u8c61\u5b57\u5178(CANopen)<\/td>\n<\/tr>\n
                        \u5fc3\u8df3\u76d1\u63a7<\/td>\n\u65e0<\/td>\n\u5fc3\u8df3\u62a5\u6587<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                        1.3 \u56db\u5927\u4e3b\u6d41\u9ad8\u5c42\u534f\u8bae<\/h3>\n\n\u534f\u8bae\u6807\u51c6\u9886\u57df\u7279\u70b9<\/tr>\n\n\n\n\n\n
                        CANopen<\/td>\nCiA 301<\/td>\n\u5de5\u4e1a\u81ea\u52a8\u5316<\/td>\n\u5bf9\u8c61\u5b57\u5178 + PDO\/SDO<\/td>\n<\/tr>\n
                        J1939<\/td>\nSAE J1939<\/td>\n\u5546\u7528\u8f66\/\u5de5\u7a0b\u673a\u68b0<\/td>\n29bit ID \u7f16\u7801\u53c2\u6570\u7ec4<\/td>\n<\/tr>\n
                        UDS<\/td>\nISO 14229<\/td>\n\u6c7d\u8f66\u8bca\u65ad<\/td>\n\u8bca\u65ad\u670d\u52a1(\u8bfb\/\u5199\/\u63a7\u5236)<\/td>\n<\/tr>\n
                        ISO-TP<\/td>\nISO 15765<\/td>\n\u4f20\u8f93\u5c42<\/td>\n8B \u2192 \u5927\u62a5\u6587\u5206\u5305<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
                        \n

                        \u4e8c\u3001CANopen(CiA 301)<\/h2>\n

                        2.1 CANopen \u67b6\u6784<\/h3>\n

                        \u5e94\u7528\u5c42(\u7528\u6237\u5e94\u7528)
                        \n \u2191
                        \nCANopen \u5e94\u7528\u5c42(CiA 301:\u5bf9\u8c61\u5b57\u5178\/SDO\/PDO\/\u5fc3\u8df3)
                        \n \u2191
                        \nCAN \u6570\u636e\u94fe\u8def\u5c42(ID + 8B)
                        \n \u2191
                        \nCAN \u7269\u7406\u5c42(ISO 11898)<\/p>\n

                        2.2 \u5bf9\u8c61\u5b57\u5178(Object Dictionary, OD)<\/h3>\n

                        CANopen \u6838\u5fc3\u2014\u2014\u5bf9\u8c61\u5b57\u5178,\u7c7b\u4f3c\u5bc4\u5b58\u5668\u8868:<\/p>\n\n\u7d22\u5f15\u542b\u4e49<\/tr>\n\n\n\n\n\n
                        0x1000-0x1FFF<\/td>\n\u8bbe\u5907\u4fe1\u606f(\u5382\u5546\/\u578b\u53f7\/\u7248\u672c)<\/td>\n<\/tr>\n
                        0x2000-0x5FFF<\/td>\n\u5382\u5546\u7279\u5b9a<\/td>\n<\/tr>\n
                        0x6000-0x9FFF<\/td>\n\u6807\u51c6\u8bbe\u5907\u53c2\u6570(\u8f93\u5165\/\u8f93\u51fa)<\/td>\n<\/tr>\n
                        0xA000-0xAFFF<\/td>\n\u7f51\u7edc\u7ba1\u7406<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
                          \n
                        • \u6bcf\u4e2a\u5bf9\u8c61\u6709\u7d22\u5f15(16bit)+ \u5b50\u7d22\u5f15(8bit)<\/li>\n
                        • \u8bfb\u5199\u5bf9\u8c61 = \u8bfb\u5199\u8bbe\u5907\u53c2\u6570<\/li>\n<\/ul>\n

                          2.3 PDO(Process Data Object,\u8fc7\u7a0b\u6570\u636e)<\/h3>\n
                            \n
                          • \u5b9e\u65f6\u6570\u636e(\u5468\u671f\u6027,\u9ad8\u4f18\u5148\u7ea7)<\/li>\n
                          • \u65e0\u9700\u5e94\u7b54,\u5e7f\u64ad\u6216\u70b9\u5bf9\u70b9<\/li>\n
                          • \u4f20\u8f93\u7c7b\u578b:\u5468\u671f\/\u4e8b\u4ef6\u89e6\u53d1\/\u540c\u6b65<\/li>\n
                          • ID \u8303\u56f4:0x181~0x57F<\/li>\n<\/ul>\n

                            TPDO(\u53d1\u9001 PDO):\u8282\u70b9\u72b6\u6001 \u2192 \u603b\u7ebf
                            \nRPDO(\u63a5\u6536 PDO):\u603b\u7ebf \u2192 \u8282\u70b9\u63a7\u5236<\/p>\n

                            2.4 SDO(Service Data Object,\u670d\u52a1\u6570\u636e)<\/h3>\n
                              \n
                            • \u914d\u7f6e\u6570\u636e(\u975e\u5b9e\u65f6,\u4f4e\u4f18\u5148\u7ea7)<\/li>\n
                            • \u8bfb\u5199\u5bf9\u8c61\u5b57\u5178,\u9700\u5e94\u7b54<\/li>\n
                            • \u53ef\u4f20 > 8 \u5b57\u8282(\u5206\u6bb5\u4f20\u8f93)<\/li>\n
                            • ID \u8303\u56f4:0x581~0x67F<\/li>\n<\/ul>\n

                              SDO \u4e0b\u8f7d(\u5199):Client \u2192 Server,\u5199\u5bf9\u8c61\u5b57\u5178
                              \nSDO \u4e0a\u4f20(\u8bfb):Client \u2190 Server,\u8bfb\u5bf9\u8c61\u5b57\u5178<\/p>\n

                              2.5 \u5fc3\u8df3(Heartbeat)<\/h3>\n
                                \n
                              • \u8282\u70b9\u5468\u671f\u53d1\u5fc3\u8df3(0x700+)<\/li>\n
                              • \u5176\u4ed6\u8282\u70b9\u76d1\u63a7,\u8d85\u65f6 = \u8282\u70b9\u5931\u8054<\/li>\n
                              • \u66ff\u4ee3 Node Guarding(\u8f6e\u8be2,\u5c11\u7528)<\/li>\n<\/ul>\n

                                2.6 NMT(Network Management)<\/h3>\n
                                  \n
                                • 0x000:NMT \u4e3b\u7ad9\u63a7\u5236<\/li>\n
                                • \u547d\u4ee4:\u8fdb\u5165\u64cd\u4f5c\/\u505c\u6b62\/\u9884\u64cd\u4f5c\/\u590d\u4f4d<\/li>\n
                                • \u8282\u70b9\u72b6\u6001:\u521d\u59cb\u5316\/\u9884\u64cd\u4f5c\/\u64cd\u4f5c\/\u505c\u6b62<\/li>\n<\/ul>\n
                                  \n

                                  \u4e09\u3001SAE J1939<\/h2>\n

                                  3.1 J1939 \u6982\u8ff0<\/h3>\n
                                    \n
                                  • \u5546\u7528\u8f66(\u5361\u8f66\/\u5ba2\u8f66\/\u5de5\u7a0b\u673a\u68b0)\u6807\u51c6<\/li>\n
                                  • \u57fa\u4e8e CAN 2.0B(29bit ID)<\/li>\n
                                  • \u7528 29bit ID \u7f16\u7801:\u4f18\u5148\u7ea7 + \u53c2\u6570\u7ec4 + \u6e90\/\u76ee\u5730\u5740<\/li>\n<\/ul>\n

                                    3.2 29bit ID \u7f16\u7801<\/h3>\n

                                    29bit ID \u7ed3\u6784:
                                    \n\u250c\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\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\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510
                                    \n\u2502\u4f18\u5148\u7ea7\u2502 \u4fdd\u7559\u2502\u6570\u636e\u9875 \u2502 PDU \u683c\u5f0f(PF) \u2502 PDU \u7279\u5b9a(PS)\u2502 \u6e90\u5730\u5740 \u2502
                                    \n\u2502 3bit \u2502 1bit\u2502 1bit \u2502 8bit \u2502 8bit \u2502 8bit \u2502
                                    \n\u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\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\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518
                                    \n bit28-26 bit25 bit24 bit23-16 bit15-8 bit7-0<\/p>\n\n\u5b57\u6bb5\u542b\u4e49<\/tr>\n\n\n\n\n\n\n\n
                                    \u4f18\u5148\u7ea7(3bit)<\/td>\n0(\u6700\u9ad8)~7(\u6700\u4f4e)<\/td>\n<\/tr>\n
                                    \u4fdd\u7559(1bit)<\/td>\n0<\/td>\n<\/tr>\n
                                    \u6570\u636e\u9875(1bit)<\/td>\n0\/1(\u6269\u5c55\u53c2\u6570\u7ec4)<\/td>\n<\/tr>\n
                                    PF(PDU\u683c\u5f0f)<\/td>\n\u53c2\u6570\u7ec4\u9ad8\u5b57\u8282<\/td>\n<\/tr>\n
                                    PS(PDU\u7279\u5b9a)<\/td>\n\u76ee\u6807\u5730\u5740(PEER)\u6216\u53c2\u6570\u7ec4\u4f4e\u5b57\u8282(PDU1\/PDU2)<\/td>\n<\/tr>\n
                                    \u6e90\u5730\u5740(8bit)<\/td>\n\u53d1\u9001\u8282\u70b9\u5730\u5740<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                    3.3 \u53c2\u6570\u7ec4(PGN)<\/h3>\n
                                      \n
                                    • PGN = \u4fdd\u7559 + \u6570\u636e\u9875 + PF(+ PS if PDU1)<\/li>\n
                                    • \u6807\u8bc6\u4e00\u7ec4\u53c2\u6570(\u5982\u53d1\u52a8\u673a\u8f6c\u901f\/\u6c34\u6e29)<\/li>\n
                                    • \u5e38\u89c1 PGN:<\/li>\n<\/ul>\n\nPGN\u53c2\u6570<\/tr>\n\n\n\n\n\n\n
                                      61444<\/td>\n\u7535\u5b50\u53d1\u52a8\u673a\u63a7\u5236\u5668(EEC1:\u8f6c\u901f\/\u8f6c\u77e9)<\/td>\n<\/tr>\n
                                      65262<\/td>\n\u53d1\u52a8\u673a\u6e29\u5ea6(\u6c34\u6e29\/\u6cb9\u6e29)<\/td>\n<\/tr>\n
                                      65263<\/td>\n\u53d1\u52a8\u673a\u4eea\u8868(\u6cb9\u538b\/\u6db2\u4f4d)<\/td>\n<\/tr>\n
                                      59904<\/td>\n\u8bf7\u6c42(Request)<\/td>\n<\/tr>\n
                                      60416<\/td>\n\u5e94\u7b54(ACK)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                      3.4 PDU1 vs PDU2<\/h3>\n
                                        \n
                                      • PDU1(PF < 240):PS \u662f\u76ee\u6807\u5730\u5740(\u70b9\u5bf9\u70b9)<\/li>\n
                                      • PDU2(PF \u2265 240):PS \u662f\u53c2\u6570\u7ec4\u6269\u5c55(\u5e7f\u64ad)<\/li>\n<\/ul>\n

                                        3.5 \u4f20\u8f93\u534f\u8bae(BAM\/RTS)<\/h3>\n
                                          \n
                                        • PGN \u6570\u636e > 8 \u5b57\u8282,\u7528\u4f20\u8f93\u534f\u8bae\u5206\u5305<\/li>\n
                                        • BAM(Broadcast Announce Message):\u5e7f\u64ad\u591a\u5305<\/li>\n
                                        • RTS\/CTS(Request\/Clear to Send):\u70b9\u5bf9\u70b9\u6d41\u63a7<\/li>\n<\/ul>\n
                                          \n

                                          \u56db\u3001UDS(ISO 14229)<\/h2>\n

                                          4.1 UDS \u6982\u8ff0<\/h3>\n
                                            \n
                                          • Unified Diagnostic Services,\u7edf\u4e00\u8bca\u65ad\u670d\u52a1<\/li>\n
                                          • \u6c7d\u8f66\u8bca\u65ad\u6807\u51c6(ISO 14229)<\/li>\n
                                          • \u57fa\u4e8e CAN + ISO-TP \u4f20\u8f93<\/li>\n
                                          • \u5ba2\u6237\u7aef(\u8bca\u65ad\u4eea)\u2192 \u670d\u52a1\u7aef(ECU)<\/li>\n<\/ul>\n

                                            4.2 \u8bca\u65ad ID<\/h3>\n
                                              \n
                                            • \u8bf7\u6c42:0x7E0~0x7E7(\u8bca\u65ad\u4eea \u2192 ECU)<\/li>\n
                                            • \u54cd\u5e94:0x7E8~0x7EF(ECU \u2192 \u8bca\u65ad\u4eea)<\/li>\n
                                            • \u5e7f\u64ad:0x7DF(\u6240\u6709 ECU)<\/li>\n<\/ul>\n

                                              4.3 \u5e38\u7528\u670d\u52a1<\/h3>\n\nSID\u670d\u52a1\u7528\u9014<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n\n
                                              0x10<\/td>\nDiagnosticSessionControl<\/td>\n\u4f1a\u8bdd\u63a7\u5236(\u9ed8\u8ba4\/\u7f16\u7a0b\/\u6269\u5c55)<\/td>\n<\/tr>\n
                                              0x11<\/td>\nECUReset<\/td>\nECU \u590d\u4f4d<\/td>\n<\/tr>\n
                                              0x22<\/td>\nReadDataByIdentifier<\/td>\n\u8bfb\u6570\u636e(\u6309 DID)<\/td>\n<\/tr>\n
                                              0x23<\/td>\nReadMemoryByAddress<\/td>\n\u8bfb\u5185\u5b58<\/td>\n<\/tr>\n
                                              0x27<\/td>\nSecurityAccess<\/td>\n\u5b89\u5168\u8bbf\u95ee(\u89e3\u9501)<\/td>\n<\/tr>\n
                                              0x2E<\/td>\nWriteDataByIdentifier<\/td>\n\u5199\u6570\u636e<\/td>\n<\/tr>\n
                                              0x31<\/td>\nRoutineControl<\/td>\n\u4f8b\u7a0b\u63a7\u5236<\/td>\n<\/tr>\n
                                              0x34<\/td>\nRequestDownload<\/td>\n\u8bf7\u6c42\u4e0b\u8f7d(\u5237\u5199)<\/td>\n<\/tr>\n
                                              0x36<\/td>\nTransferData<\/td>\n\u4f20\u8f93\u6570\u636e(\u5237\u5199)<\/td>\n<\/tr>\n
                                              0x37<\/td>\nRequestTransferExit<\/td>\n\u9000\u51fa\u4f20\u8f93<\/td>\n<\/tr>\n
                                              0x3E<\/td>\nTesterPresent<\/td>\n\u5728\u7ebf\u4fdd\u6d3b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                              4.4 \u4f1a\u8bdd\u63a7\u5236(0x10)<\/h3>\n
                                                \n
                                              • \u9ed8\u8ba4\u4f1a\u8bdd(0x01):\u57fa\u7840\u8bca\u65ad<\/li>\n
                                              • \u7f16\u7a0b\u4f1a\u8bdd(0x02):\u5237\u5199 ECU<\/li>\n
                                              • \u6269\u5c55\u4f1a\u8bdd(0x03):\u9ad8\u7ea7\u8bca\u65ad<\/li>\n<\/ul>\n

                                                \u8bf7\u6c42:10 03(\u8fdb\u6269\u5c55\u4f1a\u8bdd)
                                                \n\u54cd\u5e94:50 03 00 32 01 F4(\u6210\u529f,\u53c2\u6570)<\/p>\n

                                                4.5 \u8bfb\u6570\u636e(0x22)<\/h3>\n
                                                  \n
                                                • \u6309 DID(Data Identifier)\u8bfb\u6570\u636e<\/li>\n
                                                • DID \u662f 16bit \u6807\u8bc6\u7b26<\/li>\n<\/ul>\n

                                                  \u8bf7\u6c42:22 F1 90(\u8bfb VIN,DID=0xF190)
                                                  \n\u54cd\u5e94:62 F1 90 <17\u5b57\u8282VIN><\/p>\n

                                                  4.6 \u5199\u6570\u636e(0x2E)<\/h3>\n
                                                    \n
                                                  • \u6309 DID \u5199\u6570\u636e<\/li>\n
                                                  • \u9700\u5148\u5b89\u5168\u89e3\u9501(0x27)<\/li>\n<\/ul>\n

                                                    \u8bf7\u6c42:2E F1 90 <17\u5b57\u8282VIN>(\u5199 VIN)
                                                    \n\u54cd\u5e94:6E F1 90(\u6210\u529f)<\/p>\n

                                                    4.7 \u5b89\u5168\u8bbf\u95ee(0x27)<\/h3>\n
                                                      \n
                                                    • \u9632\u672a\u6388\u6743\u4fee\u6539<\/li>\n
                                                    • \u6d41\u7a0b:\u8bf7\u6c42\u79cd\u5b50 \u2192 \u7b97\u5bc6\u94a5 \u2192 \u53d1\u5bc6\u94a5<\/li>\n<\/ul>\n

                                                      1. \u8bf7\u6c42:27 01(\u8bf7\u6c42\u79cd\u5b50)
                                                      \n \u54cd\u5e94:67 01 <\u79cd\u5b50>
                                                      \n2. \u7b97:\u5bc6\u94a5 = f(\u79cd\u5b50)
                                                      \n3. \u8bf7\u6c42:27 02 <\u5bc6\u94a5>(\u53d1\u5bc6\u94a5)
                                                      \n \u54cd\u5e94:67 02(\u89e3\u9501\u6210\u529f)<\/p>\n

                                                      4.8 \u5237\u5199\u6d41\u7a0b(0x34\/0x36\/0x37)<\/h3>\n

                                                      1. 10 02(\u8fdb\u7f16\u7a0b\u4f1a\u8bdd)
                                                      \n2. 27(\u5b89\u5168\u89e3\u9501)
                                                      \n3. 31 01 FF 00(\u64e6\u9664)
                                                      \n4. 34(\u8bf7\u6c42\u4e0b\u8f7d:\u5730\u5740+\u957f\u5ea6)
                                                      \n5. 36(\u4f20\u8f93\u6570\u636e:\u5206\u5305\u53d1)
                                                      \n6. 37(\u9000\u51fa\u4f20\u8f93)
                                                      \n7. 11 01(\u590d\u4f4d)<\/p>\n

                                                      4.9 \u5426\u5b9a\u54cd\u5e94(NRC)<\/h3>\n
                                                        \n
                                                      • \u54cd\u5e94 7F + SID + NRC(\u5426\u5b9a\u54cd\u5e94\u7801)<\/li>\n<\/ul>\n\nNRC\u542b\u4e49<\/tr>\n\n\n\n\n\n\n\n\n\n
                                                        0x13<\/td>\n\u683c\u5f0f\u9519<\/td>\n<\/tr>\n
                                                        0x22<\/td>\n\u6761\u4ef6\u4e0d\u6ee1\u8db3<\/td>\n<\/tr>\n
                                                        0x24<\/td>\n\u8bf7\u6c42\u5e8f\u5217\u9519<\/td>\n<\/tr>\n
                                                        0x31<\/td>\n\u8d85\u8303\u56f4<\/td>\n<\/tr>\n
                                                        0x33<\/td>\n\u5b89\u5168\u62d2\u7edd(\u672a\u89e3\u9501)<\/td>\n<\/tr>\n
                                                        0x78<\/td>\n\u54cd\u5e94\u5f85\u5b9a(\u5fd9)<\/td>\n<\/tr>\n
                                                        0x7E<\/td>\n\u5b50\u529f\u80fd\u4e0d\u652f\u6301<\/td>\n<\/tr>\n
                                                        0x7F<\/td>\n\u670d\u52a1\u4e0d\u652f\u6301<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
                                                        \n

                                                        \u4e94\u3001ISO-TP(ISO 15765)<\/h2>\n

                                                        5.1 ISO-TP \u6982\u8ff0<\/h3>\n
                                                          \n
                                                        • ISO Transport Protocol,CAN \u4f20\u8f93\u5c42<\/li>\n
                                                        • \u628a > 8 \u5b57\u8282\u7684\u62a5\u6587\u62c6\u6210\u591a\u4e2a CAN \u5e27\u4f20\u8f93<\/li>\n
                                                        • UDS\/J1939 \u5927\u62a5\u6587\u90fd\u57fa\u4e8e ISO-TP<\/li>\n<\/ul>\n

                                                          5.2 \u5e27\u7c7b\u578b<\/h3>\n\n\u7c7b\u578bPCI \u9996\u5b57\u8282\u7528\u9014<\/tr>\n\n\n\n\n\n
                                                          \u5355\u5e27(SF)<\/td>\n0x0x<\/td>\n\u22647 \u5b57\u8282<\/td>\n<\/tr>\n
                                                          \u9996\u5e27(FF)<\/td>\n0x1x<\/td>\n\u591a\u5e27\u7b2c\u4e00\u5e27<\/td>\n<\/tr>\n
                                                          \u7eed\u5e27(CF)<\/td>\n0x2x<\/td>\n\u591a\u5e27\u540e\u7eed<\/td>\n<\/tr>\n
                                                          \u6d41\u63a7\u5236(FC)<\/td>\n0x3x<\/td>\n\u63a5\u6536\u65b9\u6d41\u63a7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                                          5.3 \u5355\u5e27(Single Frame)<\/h3>\n
                                                            \n
                                                          • \u6570\u636e \u2264 7 \u5b57\u8282<\/li>\n
                                                          • \u4e00\u5e27\u641e\u5b9a<\/li>\n<\/ul>\n

                                                            \u5355\u5e27:0x0N + N\u5b57\u8282(PCI\u9996\u5b57\u8282=0x0N,N=\u6570\u636e\u957f\u5ea6)
                                                            \n\u4f8b:\u53d1 3 \u5b57\u8282 [01 02 03]
                                                            \n \u5e27:03 01 02 03(\u9996\u5b57\u82820x03=3\u5b57\u8282\u6570\u636e)<\/p>\n

                                                            5.4 \u591a\u5e27(\u9996\u5e27 + \u6d41\u63a7 + \u7eed\u5e27)<\/h3>\n

                                                            \u6570\u636e > 7 \u5b57\u8282,\u5206\u591a\u5e27:<\/p>\n

                                                            \u53d1\u9001 12 \u5b57\u8282\u6570\u636e:
                                                            \n1. \u9996\u5e27(FF):1x xx + 6\u5b57\u8282(\u9996\u5b57\u82820x1,\u540e11bit=\u603b\u957f\u5ea6)
                                                            \n \u5e27:10 0C D1 D2 D3 D4 D5 D6(0x100C=12\u5b57\u8282,D1~D6\u524d6\u5b57\u8282)
                                                            \n2. \u6d41\u63a7\u5236(FC):\u63a5\u6536\u65b9\u53d1
                                                            \n \u5e27:30 00 0A(30=FC,00=\u7ee7\u7eed\u53d1,0A=\u5e27\u95f4\u969410ms)
                                                            \n3. \u7eed\u5e27(CF):\u53d1\u9001\u65b9\u53d1
                                                            \n \u5e27:21 D7 D8 D9 DA DB DC DD(21=CF\u5e8f\u53f71,D7~DD\u540e6\u5b57\u8282)
                                                            \n \u5e27:22 DE DF 00 00 00 00 00(22=CF\u5e8f\u53f72,DE DF\u6700\u540e2\u5b57\u8282)<\/p>\n

                                                            5.5 \u6d41\u63a7\u5236(FC)<\/h3>\n

                                                            \u63a5\u6536\u65b9\u63a7\u5236\u53d1\u9001\u65b9\u8282\u594f:<\/p>\n

                                                              \n
                                                            • FS(Flow Status):0=\u7ee7\u7eed\/1=\u7b49\u5f85\/2=\u6ea2\u51fa<\/li>\n
                                                            • BS(Block Size):\u6bcf\u53d1 BS \u5e27\u7b49\u4e00\u6b21 FC(0=\u53ea\u4e00\u6b21 FC)<\/li>\n
                                                            • STmin(\u6700\u5c0f\u95f4\u9694):\u5e27\u95f4\u6700\u5c0f\u95f4\u9694(ms)<\/li>\n<\/ul>\n

                                                              FC:30 FS BS STmin
                                                              \n 30 00 00 0A \u2192 \u7ee7\u7eed(FS=0),BS=0(\u53ea\u4e00\u6b21FC),STmin=10ms<\/p>\n

                                                              5.6 \u5206\u5305\u6d41\u7a0b\u56fe<\/h3>\n

                                                              \u53d1\u9001\u65b9 \u63a5\u6536\u65b9
                                                              \n \u2502 \u9996\u5e27 FF(\u603b\u957f\u5ea6+\u524d6B) \u2502
                                                              \n \u2502 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2192 \u2502
                                                              \n \u2502 \u2502
                                                              \n \u2502 \u6d41\u63a7\u5236 FC(FS\/BS\/STmin) \u2502
                                                              \n \u2502 \u2190\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 \u2502
                                                              \n \u2502 \u2502
                                                              \n \u2502 \u7eed\u5e27 CF1(\u5e8f\u53f71,7B) \u2502
                                                              \n \u2502 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2192 \u2502
                                                              \n \u2502 \u7eed\u5e27 CF2(\u5e8f\u53f72,7B) \u2502
                                                              \n \u2502 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2192 \u2502
                                                              \n \u2502 …(\u6309BS\/STmin\u8282\u594f) \u2502
                                                              \n \u2502 \u7eed\u5e27 CFn(\u6700\u540e,\u88650) \u2502
                                                              \n \u2502 \u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2192 \u2502
                                                              \n \u2502 \u2502
                                                              \n \u2502 \u91cd\u7ec4\u5b8c\u6210 \u2502<\/p>\n

                                                              5.7 ISO-TP \u72b6\u6001\u673a<\/h3>\n

                                                              typedef<\/span> enum<\/span> {<\/span>
                                                              \n TP_IDLE,<\/span> \/\/ \u7a7a\u95f2<\/span>
                                                              \n TP_SEND_FF,<\/span> \/\/ \u53d1\u9996\u5e27<\/span>
                                                              \n TP_WAIT_FC,<\/span> \/\/ \u7b49\u6d41\u63a7\u5236<\/span>
                                                              \n TP_SEND_CF,<\/span> \/\/ \u53d1\u7eed\u5e27<\/span>
                                                              \n TP_RECV_FF,<\/span> \/\/ \u6536\u5230\u9996\u5e27<\/span>
                                                              \n TP_SEND_FC,<\/span> \/\/ \u53d1\u6d41\u63a7\u5236<\/span>
                                                              \n TP_RECV_CF,<\/span> \/\/ \u6536\u7eed\u5e27<\/span>
                                                              \n TP_DONE \/\/ \u5b8c\u6210<\/span>
                                                              \n}<\/span> tp_state_t<\/span>;<\/span><\/p>\n

                                                              5.8 \u8d85\u65f6<\/h3>\n
                                                                \n
                                                              • \u7b49\u6d41\u63a7\u5236\u8d85\u65f6(\u53d1\u9001\u65b9\u7b49 FC):\u901a\u5e38 1000ms<\/li>\n
                                                              • \u7b49\u7eed\u5e27\u8d85\u65f6(\u63a5\u6536\u65b9\u7b49 CF):\u901a\u5e38 1000ms<\/li>\n
                                                              • \u8d85\u65f6 \u2192 \u4e22\u5f03,\u91cd\u65b0\u5f00\u59cb<\/li>\n<\/ul>\n
                                                                \n

                                                                \u516d\u3001CAN FD \u4e0e\u9ad8\u5c42\u534f\u8bae\u9002\u914d<\/h2>\n

                                                                6.1 CAN FD \u5927\u5e27\u4f18\u52bf<\/h3>\n
                                                                  \n
                                                                • \u6570\u636e\u6bb5 64 \u5b57\u8282<\/li>\n
                                                                • \u5355\u5e27\u53ef\u4f20 64 \u5b57\u8282(\u7ecf\u5178 \u2264 7 \u5b57\u8282)<\/li>\n<\/ul>\n

                                                                  6.2 ISO-TP FD \u9002\u914d<\/h3>\n
                                                                    \n
                                                                  • \u5355\u5e27\u6269\u5230 64 \u5b57\u8282(\u5f88\u591a\u62a5\u6587\u4e0d\u7528\u5206\u5305)<\/li>\n
                                                                  • \u591a\u5e27\u65f6\u6bcf\u7eed\u5e27 64 \u5b57\u8282(\u5206\u5305\u6570\u5927\u51cf)<\/li>\n
                                                                  • \u4f20\u8f93\u5927\u62a5\u6587\u5feb\u5f88\u591a<\/li>\n<\/ul>\n

                                                                    \u7ecf\u5178 ISO-TP \u4f20 100 \u5b57\u8282:1 FF + 14 CF(7B\/\u5e27)
                                                                    \nFD ISO-TP \u4f20 100 \u5b57\u8282:1 FF + 2 CF(64B\/\u5e27)<\/p>\n

                                                                    6.3 CANopen FD<\/h3>\n
                                                                      \n
                                                                    • CiA 302(CANopen FD)<\/li>\n
                                                                    • SDO \u5927\u5757\u4f20\u8f93(64B\/\u5e27)<\/li>\n
                                                                    • \u5bf9\u8c61\u5b57\u5178\u6269\u5c55<\/li>\n<\/ul>\n

                                                                      6.4 J1939 FD<\/h3>\n
                                                                        \n
                                                                      • J1939-22(FD \u4f20\u8f93)<\/li>\n
                                                                      • \u53c2\u6570\u7ec4\u6570\u636e\u6bb5 64B<\/li>\n
                                                                      • \u517c\u5bb9\u7ecf\u5178 J1939 \u4ef2\u88c1\u6bb5<\/li>\n<\/ul>\n

                                                                        6.5 UDS + CAN FD<\/h3>\n
                                                                          \n
                                                                        • UDS \u670d\u52a1\u4e0d\u53d8,\u4f20\u8f93\u5c42\u7528 ISO-TP FD<\/li>\n
                                                                        • \u5237\u5199\u5feb(64B\/\u5e27,\u5237\u5199\u65f6\u95f4\u5927\u51cf)<\/li>\n
                                                                        • \u8bca\u65ad\u4eea\u8981\u652f\u6301 CAN FD<\/li>\n<\/ul>\n
                                                                          \n

                                                                          \u4e03\u3001\u5173\u952e\u95ee\u9898 Q&A<\/h2>\n

                                                                          Q1:CANopen \u7684 PDO \u548c SDO \u6709\u4ec0\u4e48\u533a\u522b?<\/h3>\n

                                                                          A:<\/p>\n

                                                                            \n
                                                                          • PDO:\u8fc7\u7a0b\u6570\u636e,\u5b9e\u65f6,\u5468\u671f\/\u4e8b\u4ef6\u89e6\u53d1,\u65e0\u9700\u5e94\u7b54,\u9ad8\u4f18\u5148\u7ea7(ID 0x181~0x57F)\u3002\u4f20\u5b9e\u65f6\u63a7\u5236\u6570\u636e(\u4f4d\u7f6e\/\u901f\u5ea6)\u3002<\/li>\n
                                                                          • SDO:\u670d\u52a1\u6570\u636e,\u975e\u5b9e\u65f6,\u8bfb\u5199\u5bf9\u8c61\u5b57\u5178,\u9700\u5e94\u7b54,\u4f4e\u4f18\u5148\u7ea7(ID 0x581~0x67F)\u3002\u4f20\u914d\u7f6e\u6570\u636e(\u53c2\u6570\/\u6807\u5b9a)\u3002<\/li>\n<\/ul>\n

                                                                            Q2:J1939 \u600e\u4e48\u7528 29bit ID \u7f16\u7801?<\/h3>\n

                                                                            A:29bit \u5206 6 \u6bb5:\u4f18\u5148\u7ea7(3bit)+ \u4fdd\u7559(1)+ \u6570\u636e\u9875(1)+ PF(8)+ PS(8)+ \u6e90\u5730\u5740(8)\u3002PF < 240 \u662f PDU1(PS=\u76ee\u6807\u5730\u5740,\u70b9\u5bf9\u70b9),PF \u2265 240 \u662f PDU2(PS=\u53c2\u6570\u7ec4\u6269\u5c55,\u5e7f\u64ad)\u3002PGN = \u4fdd\u7559+\u6570\u636e\u9875+PF(+PS)\u3002\u4f8b:\u53d1\u52a8\u673a\u8f6c\u901f PGN 61444,\u4f18\u5148\u7ea7 3\u3002<\/p>\n

                                                                            Q3:UDS \u5237\u5199 ECU \u5b8c\u6574\u6d41\u7a0b?<\/h3>\n

                                                                            A:<\/p>\n

                                                                          • 10 02(\u8fdb\u7f16\u7a0b\u4f1a\u8bdd)<\/li>\n
                                                                          • 27(\u5b89\u5168\u89e3\u9501:\u8bf7\u6c42\u79cd\u5b50\u2192\u7b97\u5bc6\u94a5\u2192\u53d1\u5bc6\u94a5)<\/li>\n
                                                                          • 31 01(\u64e6\u9664 Flash)<\/li>\n
                                                                          • 34(\u8bf7\u6c42\u4e0b\u8f7d:\u5730\u5740+\u957f\u5ea6)<\/li>\n
                                                                          • 36(\u4f20\u8f93\u6570\u636e:\u5206\u5305\u53d1,ISO-TP \u591a\u5e27)<\/li>\n
                                                                          • 37(\u9000\u51fa\u4f20\u8f93)<\/li>\n
                                                                          • 11 01(\u590d\u4f4d ECU)<\/li>\n
                                                                          • \u9a8c\u8bc1(10 03 \u8fdb\u6269\u5c55\u4f1a\u8bdd,22 \u8bfb\u7248\u672c)<\/li>\n

                                                                            Q4:ISO-TP \u5355\u5e27\u548c\u591a\u5e27\u600e\u4e48\u5206?<\/h3>\n

                                                                            A:<\/p>\n

                                                                              \n
                                                                            • \u5355\u5e27(SF):\u6570\u636e \u2264 7 \u5b57\u8282,\u4e00\u5e27\u641e\u5b9a(PCI \u9996\u5b57\u8282 0x0N,N=\u957f\u5ea6)<\/li>\n
                                                                            • \u591a\u5e27:\u6570\u636e > 7 \u5b57\u8282,\u9996\u5e27 FF(0x1,\u603b\u957f\u5ea6+\u524d6B)\u2192 \u63a5\u6536\u65b9\u53d1\u6d41\u63a7 FC(0x3,FS\/BS\/STmin)\u2192 \u53d1\u9001\u65b9\u53d1\u7eed\u5e27 CF(0x2,\u5e8f\u53f7+7B)\u2192 \u91cd\u7ec4<\/li>\n<\/ul>\n

                                                                              Q5:ISO-TP \u6d41\u63a7\u5236(FC)\u4ec0\u4e48\u4f5c\u7528?<\/h3>\n

                                                                              A:\u63a5\u6536\u65b9\u63a7\u5236\u53d1\u9001\u65b9\u8282\u594f,\u9632\u6df9\u6ca1\u3002FC \u4e09\u5b57\u6bb5:FS(0\u7ee7\u7eed\/1\u7b49\u5f85\/2\u6ea2\u51fa)+ BS(\u6bcf\u53d1 BS \u5e27\u7b49\u4e00\u6b21 FC,0=\u53ea\u4e00\u6b21)+ STmin(\u5e27\u95f4\u6700\u5c0f\u95f4\u9694)\u3002\u4f8b:30 00 0A \u2192 \u7ee7\u7eed,\u53ea\u4e00\u6b21 FC,\u95f4\u9694 10ms\u3002<\/p>\n

                                                                              Q6:CAN FD \u5bf9\u9ad8\u5c42\u534f\u8bae\u6709\u4ec0\u4e48\u5f71\u54cd?<\/h3>\n

                                                                              A:\u6570\u636e\u6bb5 64 \u5b57\u8282,\u5355\u5e27\u4f20\u66f4\u591a\u3002ISO-TP \u5355\u5e27\u6269\u5230 64B(\u5f88\u591a\u62a5\u6587\u4e0d\u5206\u5305),\u591a\u5e27\u7eed\u5e27 64B(\u5206\u5305\u6570\u5927\u51cf)\u3002UDS \u5237\u5199\u5feb\u5f88\u591a(64B\/\u5e27)\u3002CANopen FD(CiA 302)\/J1939-22 \u90fd\u662f FD \u9002\u914d\u7248\u3002\u4ef2\u88c1\u6bb5\u4ecd 1M \u517c\u5bb9\u7ecf\u5178\u3002<\/p>\n

                                                                              \n

                                                                              \u516b\u3001\u5b9e\u6218\u6848\u4f8b<\/h2>\n

                                                                              \u6848\u4f8b 1:CANopen \u8282\u70b9\u5fc3\u8df3\u4e22\u5931\u544a\u8b66<\/h3>\n

                                                                              \u73b0\u8c61:CANopen \u4ece\u7ad9\u5931\u8054,\u4e3b\u7ad9\u62a5\u5fc3\u8df3\u8d85\u65f6\u3002<\/p>\n

                                                                              \u5206\u6790:\u4ece\u7ad9\u5d29\u6e83\/\u6389\u7ebf,\u505c\u6b62\u53d1\u5fc3\u8df3(0x700+),\u4e3b\u7ad9\u8d85\u65f6\u68c0\u6d4b\u5230\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u67e5\u4ece\u7ad9\u7535\u6e90\/\u590d\u4f4d;\u4e3b\u7ad9\u5fc3\u8df3\u8d85\u65f6\u8fdb\u5b89\u5168\u72b6\u6001(\u505c\u6b62\u76f8\u5173\u63a7\u5236)\u3002<\/p>\n

                                                                              \u6848\u4f8b 2:J1939 \u53d1\u52a8\u673a\u8f6c\u901f\u89e3\u6790\u9519<\/h3>\n

                                                                              \u73b0\u8c61:\u8bfb J1939 \u62a5\u6587,\u53d1\u52a8\u673a\u8f6c\u901f\u503c\u4e0d\u5bf9\u3002<\/p>\n

                                                                              \u5206\u6790:PGN 61444(EEC1),\u8f6c\u901f\u662f 2 \u5b57\u8282,\u5206\u8fa8\u7387 0.125 rpm\/bit,\u504f\u79fb 0\u3002\u89e3\u6790\u6ca1\u6309\u6bd4\u4f8b\u6362\u7b97\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u6309 SPN \u5b9a\u4e49\u6362\u7b97:\u8f6c\u901f = raw \u00d7 0.125 rpm\u3002\u6ce8\u610f\u5b57\u8282\u5e8f(MSB \u5148)\u3002<\/p>\n

                                                                              \u6848\u4f8b 3:UDS \u8bfb VIN \u5931\u8d25<\/h3>\n

                                                                              \u73b0\u8c61:\u53d1 22 F1 90(\u8bfb VIN),\u54cd\u5e94 7F 22 33(\u5b89\u5168\u62d2\u7edd)\u3002<\/p>\n

                                                                              \u5206\u6790:VIN \u5199\u9700\u8981\u5b89\u5168\u89e3\u9501(0x27),\u8bfb VIN \u5728\u9ed8\u8ba4\u4f1a\u8bdd\u4e5f\u53ef\u80fd\u9650\u5236\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u5148\u8fdb\u6269\u5c55\u4f1a\u8bdd(10 03),\u5b89\u5168\u89e3\u9501(27),\u518d\u8bfb VIN(22 F1 90)\u3002<\/p>\n

                                                                              \u6848\u4f8b 4:UDS \u5237\u5199\u4e2d\u9014\u65ad<\/h3>\n

                                                                              \u73b0\u8c61:ECU \u5237\u5199,36 \u4f20\u8f93\u6570\u636e\u4e2d\u9014\u5931\u8d25\u3002<\/p>\n

                                                                              \u5206\u6790:ISO-TP \u7eed\u5e27\u8d85\u65f6(\u63a5\u6536\u65b9\u7b49 CF \u8d85\u65f6),\u6216 CAN \u603b\u7ebf\u9519(\u9519\u8bef\u5e27)\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u67e5 CAN \u9519\u8bef(\u903b\u8f91\u5206\u6790\u4eea),\u68c0\u67e5\u5237\u5199\u6d41\u7a0b(34 \u4e0b\u8f7d\u8bf7\u6c42\u7684\u5730\u5740\/\u957f\u5ea6\u5bf9),\u91cd\u5237\u3002<\/p>\n

                                                                              \u6848\u4f8b 5:ISO-TP \u591a\u5e27\u63a5\u6536\u65b9\u4e0d\u56de FC<\/h3>\n

                                                                              \u73b0\u8c61:\u53d1\u9996\u5e27 FF,\u63a5\u6536\u65b9\u4e0d\u53d1\u6d41\u63a7\u5236 FC,\u8d85\u65f6\u5931\u8d25\u3002<\/p>\n

                                                                              \u5206\u6790:\u63a5\u6536\u65b9\u6ca1\u5b9e\u73b0 ISO-TP,\u6216 FC \u7684 ID \u914d\u9519,\u6216\u63a5\u6536\u65b9\u5fd9(\u6ca1\u5904\u7406)\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u786e\u8ba4\u63a5\u6536\u65b9\u5b9e\u73b0 ISO-TP,\u68c0\u67e5 FC \u7684 CAN ID(\u8bf7\u6c42\/\u54cd\u5e94\u5bf9\u5e94),\u63a5\u6536\u65b9\u63d0\u9ad8\u5904\u7406\u4f18\u5148\u7ea7\u3002<\/p>\n

                                                                              \u6848\u4f8b 6:CAN FD \u5237\u5199\u6bd4\u7ecf\u5178\u5feb\u591a\u5c11?<\/h3>\n

                                                                              \u73b0\u8c61:CAN FD \u5237\u5199 1MB Flash \u7528 30s,\u7ecf\u5178 CAN \u7528 4min\u3002<\/p>\n

                                                                              \u5206\u6790:FD \u5355\u5e27 64B vs \u7ecf\u5178 7B,\u5206\u5305\u6570 1\/9,\u4f20\u8f93\u5feb\u7ea6 9 \u500d\u3002<\/p>\n

                                                                              \u89e3\u51b3:CAN FD \u5237\u5199\u662f\u4f18\u52bf,\u8bca\u65ad\u4eea\u548c ECU \u90fd\u8981\u652f\u6301 FD\u3002<\/p>\n

                                                                              \u6848\u4f8b 7:J1939 \u591a\u5305\u62a5\u6587 BAM \u4f20\u8f93<\/h3>\n

                                                                              \u73b0\u8c61:J1939 \u53c2\u6570\u7ec4\u6570\u636e 20 \u5b57\u8282,\u6536\u5230 BAM(\u5e7f\u64ad\u591a\u5305)\u3002<\/p>\n

                                                                              \u5206\u6790:PGN 59904 \u8bf7\u6c42 \u2192 \u54cd\u5e94\u65b9\u53d1 BAM(0x18ECFF)\u58f0\u660e\u591a\u5305 \u2192 \u5206\u5305\u53d1\u6570\u636e\u5305(0x18EBFF)\u2192 \u63a5\u6536\u65b9\u91cd\u7ec4\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u5b9e\u73b0 J1939 \u4f20\u8f93\u534f\u8bae(BAM),\u6309\u5e8f\u53f7\u91cd\u7ec4,\u8d85\u65f6\u4e22\u5f03\u3002<\/p>\n

                                                                              \u6848\u4f8b 8:CANopen SDO \u4e0b\u8f7d\u5199\u53c2\u6570<\/h3>\n

                                                                              \u73b0\u8c61:SDO \u4e0b\u8f7d\u5199\u5bf9\u8c61\u5b57\u5178 0x2000=0x1234,\u54cd\u5e94\u6210\u529f\u4f46\u53c2\u6570\u6ca1\u53d8\u3002<\/p>\n

                                                                              \u5206\u6790:SDO \u4e0b\u8f7d\u8bf7\u6c42\u683c\u5f0f\u9519(\u5b50\u7d22\u5f15\/\u6570\u636e\u957f\u5ea6),\u6216\u5bf9\u8c61\u53ea\u8bfb\u3002<\/p>\n

                                                                              \u89e3\u51b3:\u786e\u8ba4\u5bf9\u8c61\u53ef\u5199(OD \u5b9a\u4e49),SDO \u5e27\u683c\u5f0f\u5bf9(\u6307\u4ee4+\u7d22\u5f15+\u5b50\u7d22\u5f15+\u6570\u636e),\u8bfb\u56de\u9a8c\u8bc1\u3002<\/p>\n

                                                                              \n

                                                                              \u4e5d\u3001\u672c\u7bc7\u5c0f\u7ed3\u4e0e\u901f\u67e5<\/h2>\n

                                                                              \u6838\u5fc3\u8981\u70b9<\/h3>\n
                                                                                \n
                                                                              • CAN \u53ea\u6709 ID+8B,\u9ad8\u5c42\u534f\u8bae\u8d4b\u4e88\u8bed\u4e49<\/li>\n
                                                                              • CANopen(CiA 301):\u5bf9\u8c61\u5b57\u5178 + PDO(\u5b9e\u65f6)+ SDO(\u914d\u7f6e)+ \u5fc3\u8df3<\/li>\n
                                                                              • J1939:29bit ID \u7f16\u7801(\u4f18\u5148\u7ea7+PGN+\u6e90\/\u76ee\u5730\u5740),\u5546\u7528\u8f66<\/li>\n
                                                                              • UDS(ISO 14229):\u8bca\u65ad\u670d\u52a1(0x10\u4f1a\u8bdd\/0x22\u8bfb\/0x2E\u5199\/0x27\u89e3\u9501\/0x34\/36\/37\u5237\u5199)<\/li>\n
                                                                              • ISO-TP(ISO 15765):8B \u2192 \u5927\u62a5\u6587\u5206\u5305(SF\u5355\u5e27\/FF\u9996\u5e27\/CF\u7eed\u5e27\/FC\u6d41\u63a7)<\/li>\n
                                                                              • UDS \u5237\u5199\u6d41\u7a0b:\u4f1a\u8bdd\u2192\u89e3\u9501\u2192\u64e6\u9664\u2192\u4e0b\u8f7d\u2192\u4f20\u8f93\u2192\u9000\u51fa\u2192\u590d\u4f4d<\/li>\n
                                                                              • J1939 PDU1(PF<240,\u70b9\u5bf9\u70b9)\/PDU2(PF\u2265240,\u5e7f\u64ad)<\/li>\n
                                                                              • ISO-TP \u6d41\u63a7:FS(\u7ee7\u7eed\/\u7b49\u5f85\/\u6ea2\u51fa)+ BS(\u5757\u5927\u5c0f)+ STmin(\u95f4\u9694)<\/li>\n
                                                                              • CAN FD \u9002\u914d:\u5355\u5e27 64B,\u5237\u5199\u5feb 9 \u500d,CANopen FD\/J1939-22<\/li>\n
                                                                              • \u5426\u5b9a\u54cd\u5e94 NRC:7F + SID + NRC(0x33\u5b89\u5168\u62d2\u7edd\/0x31\u8d85\u8303\u56f4\/0x78\u5fd9)<\/li>\n<\/ul>\n

                                                                                CANopen \u901f\u67e5<\/h3>\n\n\u5bf9\u8c61ID \u8303\u56f4\u7528\u9014<\/tr>\n\n\n\n\n\n\n
                                                                                NMT<\/td>\n0x000<\/td>\n\u7f51\u7edc\u7ba1\u7406<\/td>\n<\/tr>\n
                                                                                \u7d27\u6025<\/td>\n0x080<\/td>\n\u7d27\u6025\u62a5\u6587<\/td>\n<\/tr>\n
                                                                                PDO<\/td>\n0x181~0x57F<\/td>\n\u8fc7\u7a0b\u6570\u636e(\u5b9e\u65f6)<\/td>\n<\/tr>\n
                                                                                SDO<\/td>\n0x581~0x67F<\/td>\n\u670d\u52a1\u6570\u636e(\u914d\u7f6e)<\/td>\n<\/tr>\n
                                                                                \u5fc3\u8df3<\/td>\n0x700+<\/td>\n\u8282\u70b9\u5fc3\u8df3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                                                                J1939 ID \u901f\u67e5<\/h3>\n\n\u5b57\u6bb5bit\u542b\u4e49<\/tr>\n\n\n\n\n\n\n\n
                                                                                \u4f18\u5148\u7ea7<\/td>\n3<\/td>\n0\u6700\u9ad87\u6700\u4f4e<\/td>\n<\/tr>\n
                                                                                \u4fdd\u7559<\/td>\n1<\/td>\n0<\/td>\n<\/tr>\n
                                                                                \u6570\u636e\u9875<\/td>\n1<\/td>\n0\/1<\/td>\n<\/tr>\n
                                                                                PF<\/td>\n8<\/td>\n\u53c2\u6570\u7ec4\u9ad8\u5b57\u8282<\/td>\n<\/tr>\n
                                                                                PS<\/td>\n8<\/td>\n\u76ee\u6807\u5730\u5740\/\u53c2\u6570\u7ec4\u4f4e<\/td>\n<\/tr>\n
                                                                                \u6e90\u5730\u5740<\/td>\n8<\/td>\n\u53d1\u9001\u8282\u70b9<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                                                                UDS \u670d\u52a1\u901f\u67e5<\/h3>\n\nSID\u670d\u52a1\u7528\u9014<\/tr>\n\n\n\n\n\n\n\n\n\n\n\n
                                                                                0x10<\/td>\n\u4f1a\u8bdd\u63a7\u5236<\/td>\n\u9ed8\u8ba4\/\u7f16\u7a0b\/\u6269\u5c55<\/td>\n<\/tr>\n
                                                                                0x11<\/td>\nECU \u590d\u4f4d<\/td>\n\u590d\u4f4d<\/td>\n<\/tr>\n
                                                                                0x22<\/td>\n\u8bfb\u6570\u636e<\/td>\n\u6309 DID \u8bfb<\/td>\n<\/tr>\n
                                                                                0x27<\/td>\n\u5b89\u5168\u8bbf\u95ee<\/td>\n\u89e3\u9501<\/td>\n<\/tr>\n
                                                                                0x2E<\/td>\n\u5199\u6570\u636e<\/td>\n\u6309 DID \u5199<\/td>\n<\/tr>\n
                                                                                0x31<\/td>\n\u4f8b\u7a0b\u63a7\u5236<\/td>\n\u64e6\u9664\u7b49<\/td>\n<\/tr>\n
                                                                                0x34<\/td>\n\u8bf7\u6c42\u4e0b\u8f7d<\/td>\n\u5237\u5199\u5f00\u59cb<\/td>\n<\/tr>\n
                                                                                0x36<\/td>\n\u4f20\u8f93\u6570\u636e<\/td>\n\u5237\u5199\u5206\u5305<\/td>\n<\/tr>\n
                                                                                0x37<\/td>\n\u9000\u51fa\u4f20\u8f93<\/td>\n\u5237\u5199\u7ed3\u675f<\/td>\n<\/tr>\n
                                                                                0x3E<\/td>\n\u5728\u7ebf\u4fdd\u6d3b<\/td>\n\u9632\u8d85\u65f6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                                                                ISO-TP \u5e27\u901f\u67e5<\/h3>\n\n\u7c7b\u578bPCI\u7528\u9014<\/tr>\n\n\n\n\n\n
                                                                                SF<\/td>\n0x0N<\/td>\n\u22647B \u5355\u5e27<\/td>\n<\/tr>\n
                                                                                FF<\/td>\n0x1x<\/td>\n\u591a\u5e27\u9996\u5e27(\u603b\u957f+6B)<\/td>\n<\/tr>\n
                                                                                CF<\/td>\n0x2x<\/td>\n\u7eed\u5e27(\u5e8f\u53f7+7B)<\/td>\n<\/tr>\n
                                                                                FC<\/td>\n0x3x<\/td>\n\u6d41\u63a7(FS\/BS\/STmin)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                                                                                \u6c7d\u8f66\u8bca\u65ad\u8981\u70b9<\/h3>\n
                                                                                  \n
                                                                                • UDS \u8bca\u65ad\u670d\u52a1\u5fc5\u5b9e\u73b0(0x10\/0x22\/0x2E\/0x27\/0x11)<\/li>\n
                                                                                • ISO-TP \u4f20\u8f93\u5c42(\u5355\u5e27\/\u591a\u5e27\/\u6d41\u63a7\/\u8d85\u65f6)<\/li>\n
                                                                                • \u5b89\u5168\u8bbf\u95ee(0x27)\u9632\u672a\u6388\u6743<\/li>\n
                                                                                • \u5237\u5199\u6d41\u7a0b(0x34\/0x36\/0x37)+ \u6821\u9a8c<\/li>\n
                                                                                • CAN FD \u5237\u5199\u4f18\u5316(64B\/\u5e27)<\/li>\n
                                                                                • \u5426\u5b9a\u54cd\u5e94\u7801\u5b8c\u6574(NRC)<\/li>\n
                                                                                • \u8bca\u65ad ID \u5206\u914d(0x7E0~0x7EF)<\/li>\n<\/ul>\n
                                                                                  \n

                                                                                  \u5ef6\u4f38\u9605\u8bfb<\/h2>\n
                                                                                    \n
                                                                                  • [[04-CAN\u5e27\u683c\u5f0f]] \u2014\u2014 8 \u5b57\u8282\u6570\u636e\u6bb5\u627f\u8f7d\u9ad8\u5c42\u534f\u8bae<\/li>\n
                                                                                  • [[05-CAN\u4ef2\u88c1\u4e0e\u4f18\u5148\u7ea7]] \u2014\u2014 \u9ad8\u5c42\u534f\u8bae ID \u5206\u914d<\/li>\n
                                                                                  • [[08-CAN\u63a7\u5236\u5668\u5bc4\u5b58\u5668\u4e0eIP\u67b6\u6784]] \u2014\u2014 \u9ad8\u5c42\u534f\u8bae\u9a71\u52a8\u5b9e\u73b0<\/li>\n
                                                                                  • [[12-CAN\u8bbe\u5907\u9a71\u52a8\u5b9e\u6218]] \u2014\u2014 UDS\/ISO-TP \u5b9e\u6218<\/li>\n
                                                                                  • [[14-CAN\u6392\u67e5\u624b\u518c\u4e0e\u901f\u67e5\u8868]] \u2014\u2014 \u9ad8\u5c42\u534f\u8bae\u901f\u67e5<\/li>\n
                                                                                  • [[07-SPI\u9ad8\u7ea7\u6a21\u5f0f-QSPI-Octal-XIP]] \u2014\u2014 \u5bf9\u6bd4 SPI \u9ad8\u7ea7\u6a21\u5f0f<\/li>\n
                                                                                  • [[07-I2C\u534f\u8bae\u6269\u5c55-SMBus-PMBus]] \u2014\u2014 \u5bf9\u6bd4 I2C \u534f\u8bae\u6269\u5c55<\/li>\n<\/ul>\n

                                                                                    \u53c2\u8003\u8d44\u6599<\/h2>\n
                                                                                      \n
                                                                                    • CiA 301(CANopen \u5e94\u7528\u5c42)<\/li>\n
                                                                                    • SAE J1939-21(\u6570\u636e\u94fe\u8def\u5c42)\/-71(\u5e94\u7528\u5c42)<\/li>\n
                                                                                    • ISO 14229(UDS)<\/li>\n
                                                                                    • ISO 15765-2(ISO-TP)<\/li>\n
                                                                                    • CiA 302(CANopen FD)<\/li>\n<\/ul>\n
                                                                                      \n

                                                                                      [[00-CAN\u6280\u672f\u7cfb\u5217\u603b\u76ee\u5f55]] \u00b7 \u4e0a\u4e00\u7bc7:[[06-CAN\u9519\u8bef\u5904\u7406\u4e0e\u9519\u8bef\u5e27]] \u00b7 \u4e0b\u4e00\u7bc7:[[08-CAN\u63a7\u5236\u5668\u5bc4\u5b58\u5668\u4e0eIP\u67b6\u6784]]<\/p>\n

                                                                                      \n

                                                                                      \u2728 \u611f\u8c22\u4f60\u7684\u9605\u8bfb \u2728<\/b><\/font> <\/p>\n

                                                                                      \u6280\u672f\u4e4b\u8def\u6f2b\u6f2b，\u5206\u4eab\u662f\u4e3a\u4e86\u66f4\u597d\u5730\u4ea4\u6d41\u3002 \u5982\u679c\u672c\u6587\u7684\u5185\u5bb9\u5bf9\u4f60\u6709\u542f\u53d1，\u5e0c\u671b\u80fd\u5f97\u5230\u4f60\u7684\u652f\u6301： <\/p>\n

                                                                                      👍 \u70b9\u8d5e<\/font> \u00a0\u00a0|\u00a0\u00a0 \u2b50 \u6536\u85cf<\/font> \u00a0\u00a0|\u00a0\u00a0 👀 \u5173\u6ce8<\/font> <\/b> <\/font> <\/p>\n

                                                                                      \u5982\u679c\u4f60\u5728\u8c03\u8bd5\u8fc7\u7a0b\u4e2d\u9047\u5230\u4e86\u5176\u4ed6\u95ee\u9898， \u6b22\u8fce\u5728 \u8bc4\u8bba\u533a 💬<\/b><\/font> \u7559\u8a00，\u6211\u4eec\u4e00\u8d77\u63a2\u8ba8\u3002 \u5173\u6ce8\u6211，\u4e00\u8d77\u4ea4\u6d41\u5e95\u5c42\u5f00\u53d1\u7684\u90a3\u4e9b\u4e8b\u513f！🚀 <\/p>\n

                                                                                      \n","protected":false},"excerpt":{"rendered":"

                                                                                      📚 CAN\u603b\u7ebf\u6280\u672f\u7cfb\u5217 \u00b7 \u6301\u7eed\u66f4\u65b0\u4e2d \u672c\u7cfb\u5217\u4ece\u5dee\u5206\u7535\u6c14\u5c42\u4e00\u8def\u6253\u5230 Linux SocketCAN,\u628a\\”\u4e24\u6839\u7ebf\\”\u80cc\u540e\u7684\u7535\u6c14\/\u534f\u8bae\/\u63a7\u5236\u5668\/\u9a71\u52a8\/\u5b9e\u6218\u5168\u62e7\u6210\u4e00\u6839\u7ebf\u3002 👉 \u60f3\u7cfb\u7edf\u8ffd\u66f4，\u6233\u8fd9\u91cc\u67e5\u770b\u5b8c\u6574\u4e13\u680f： \u3010CAN \u6280\u672f\u7cfb\u5217\u3011 👉 \u5176\u4ed6\u6280\u672f\u7cfb\u5217\u4e13\u680f，\u6b22\u8fce\u5173\u6ce8\u3001\u4ea4\u6d41\u3001\u5171\u540c\u6210\u957f： \u3010SPI \u6280\u672f\u7cfb\u5217\u3011 \u3010I2C \u6280\u672f\u7cfb\u5217\u3011 \u3010\u4e32\u53e3\u6280\u672f\u7cfb\u5217\u3011\u3010RISC-V \u67b6\u6784\u7cfb\u5217\u3011\u3010Linux\u5185<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[8296,9098,13701,2896,996,1363],"topic":[],"class_list":["post-119977","post","type-post","status-publish","format-standard","hentry","category-server","tag-can","tag-it","tag-13701","tag-2896","tag-996","tag-1363"],"yoast_head":"\nCAN \u6280\u672f\u7cfb\u5217 07 \u00b7 CAN \u9ad8\u5c42\u534f\u8bae - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/119977.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"CAN \u6280\u672f\u7cfb\u5217 07 \u00b7 CAN \u9ad8\u5c42\u534f\u8bae - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"📚 CAN\u603b\u7ebf\u6280\u672f\u7cfb\u5217 \u00b7 \u6301\u7eed\u66f4\u65b0\u4e2d \u672c\u7cfb\u5217\u4ece\u5dee\u5206\u7535\u6c14\u5c42\u4e00\u8def\u6253\u5230 Linux SocketCAN,\u628a"\u4e24\u6839\u7ebf"\u80cc\u540e\u7684\u7535\u6c14\/\u534f\u8bae\/\u63a7\u5236\u5668\/\u9a71\u52a8\/\u5b9e\u6218\u5168\u62e7\u6210\u4e00\u6839\u7ebf\u3002 👉 \u60f3\u7cfb\u7edf\u8ffd\u66f4，\u6233\u8fd9\u91cc\u67e5\u770b\u5b8c\u6574\u4e13\u680f： \u3010CAN \u6280\u672f\u7cfb\u5217\u3011 👉 \u5176\u4ed6\u6280\u672f\u7cfb\u5217\u4e13\u680f，\u6b22\u8fce\u5173\u6ce8\u3001\u4ea4\u6d41\u3001\u5171\u540c\u6210\u957f： \u3010SPI \u6280\u672f\u7cfb\u5217\u3011 \u3010I2C \u6280\u672f\u7cfb\u5217\u3011 \u3010\u4e32\u53e3\u6280\u672f\u7cfb\u5217\u3011\u3010RISC-V \u67b6\u6784\u7cfb\u5217\u3011\u3010Linux\u5185\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.wsisp.com\/helps\/119977.html\" \/>\n<meta property=\"og:site_name\" content=\"\u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"article:published_time\" content=\"2026-10-30T13:32:42+00:00\" \/>\n<meta name=\"author\" content=\"admin\" \/>\n<meta name=\"twitter:card\" content=\"summary_large_image\" \/>\n<meta name=\"twitter:label1\" content=\"\u4f5c\u8005\" \/>\n\t<meta name=\"twitter:data1\" content=\"admin\" \/>\n\t<meta name=\"twitter:label2\" content=\"\u9884\u8ba1\u9605\u8bfb\u65f6\u95f4\" \/>\n\t<meta name=\"twitter:data2\" content=\"5 \u5206\" \/>\n<script type=\"application\/ld+json\" class=\"yoast-schema-graph\">{\"@context\":\"https:\/\/schema.org\",\"@graph\":[{\"@type\":\"WebPage\",\"@id\":\"https:\/\/www.wsisp.com\/helps\/119977.html\",\"url\":\"https:\/\/www.wsisp.com\/helps\/119977.html\",\"name\":\"CAN \u6280\u672f\u7cfb\u5217 07 \u00b7 CAN \u9ad8\u5c42\u534f\u8bae - 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