\n| 19<\/td>\n | \u8282\u70b9\u6570\u591a<\/td>\n | \u8fb9\u6cbf\u7f13<\/td>\n | \u7535\u5bb9\u5927<\/td>\n | \u964d\u901f\/\u5206\u6bb5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u4e09\u3001\u4f4d\u5b9a\u65f6\u901f\u67e5<\/h3>\n3.1 \u4f4d\u5b9a\u65f6\u5e38\u7528\u914d\u7f6e(f_CAN=48MHz)<\/h4>\n\n\u901f\u7387BRPNBTTSEG1TSEG2SJWSP<\/tr>\n \n\n| 1M<\/td>\n | 3<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 500k<\/td>\n | 6<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 250k<\/td>\n | 12<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 125k<\/td>\n | 24<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 50k<\/td>\n | 60<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n3.2 CAN FD \u53cc\u4f4d\u5b9a\u65f6(f_CAN=80MHz)<\/h4>\n\n\u6bb5\u901f\u7387BRPNBTTSEG1TSEG2SJWSP<\/tr>\n \n\n| \u4ef2\u88c1\u6bb5(NBTP)<\/td>\n | 1M<\/td>\n | 5<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| \u6570\u636e\u6bb5(DBTP)<\/td>\n | 5M<\/td>\n | 2<\/td>\n | 8<\/td>\n | 5<\/td>\n | 2<\/td>\n | 1<\/td>\n | 75%<\/td>\n<\/tr>\n | \n| \u6570\u636e\u6bb5(DBTP)<\/td>\n | 8M<\/td>\n | 1<\/td>\n | 10<\/td>\n | 7<\/td>\n | 2<\/td>\n | 1<\/td>\n | 80%<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n3.3 BTR \u914d\u7f6e\u516c\u5f0f<\/h4>\n1. NBT = f_CAN \/ (BRP \u00d7 bit_rate), \u9009 BRP \u8ba9 NBT=16
\n2. TSEG1 = NBT \u00d7 SP – 1 = 16 \u00d7 0.875 – 1 = 13
\n3. TSEG2 = NBT – 1 – TSEG1 = 16 – 1 – 13 = 2
\n4. SJW = 2(\u901a\u5e38,1~4)
\n5. BTR = (SJW-1)<<24 | (TSEG2-1)<<16 | (TSEG1-1)<<8 | (BRP-1)<\/p>\n 3.4 \u901f\u7387-\u8ddd\u79bb-\u7ea6\u675f\u901f\u67e5<\/h4>\n\n\u901f\u7387\u603b\u7ebf\u957fstub\u8282\u70b9\u7535\u5bb9<\/tr>\n \n\n| 1M<\/td>\n | 40m<\/td>\n | 0.3m<\/td>\n | 30<\/td>\n | 100pF<\/td>\n<\/tr>\n | \n| 500k<\/td>\n | 100m<\/td>\n | 0.6m<\/td>\n | 30<\/td>\n | 100pF<\/td>\n<\/tr>\n | \n| 250k<\/td>\n | 250m<\/td>\n | 1.2m<\/td>\n | 30<\/td>\n | 200pF<\/td>\n<\/tr>\n | \n| 125k<\/td>\n | 500m<\/td>\n | 2.4m<\/td>\n | 30<\/td>\n | 500pF<\/td>\n<\/tr>\n | \n| 50k<\/td>\n | 1km<\/td>\n | 6m<\/td>\n | 30<\/td>\n | 1nF<\/td>\n<\/tr>\n | \n| FD 5M<\/td>\n | <10m<\/td>\n | 0.15m<\/td>\n | <10<\/td>\n | 100pF<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u56db\u3001\u5e27\u683c\u5f0f\u901f\u67e5<\/h3>\n4.1 \u6570\u636e\u5e27(\u6807\u51c6\u5e27 8 \u5b57\u8282)<\/h4>\n\n\u6bb5\u4f4d\u6570\u5185\u5bb9<\/tr>\n \n\n| SOF<\/td>\n | 1<\/td>\n | \u663e\u6027(\u5e27\u8d77\u59cb)<\/td>\n<\/tr>\n | \n| ID<\/td>\n | 11<\/td>\n | \u6807\u8bc6\u7b26(\u4f18\u5148\u7ea7)<\/td>\n<\/tr>\n | \n| RTR<\/td>\n | 1<\/td>\n | 0=\u6570\u636e,1=\u8fdc\u7a0b<\/td>\n<\/tr>\n | \n| IDE<\/td>\n | 1<\/td>\n | 0=\u6807\u51c6,1=\u6269\u5c55<\/td>\n<\/tr>\n | \n| r0<\/td>\n | 1<\/td>\n | \u4fdd\u7559<\/td>\n<\/tr>\n | \n| DLC<\/td>\n | 4<\/td>\n | \u6570\u636e\u957f\u5ea6(0~8\u7ecf\u5178)<\/td>\n<\/tr>\n | \n| \u6570\u636e<\/td>\n | 0~64<\/td>\n | \u6570\u636e<\/td>\n<\/tr>\n | \n| CRC<\/td>\n | 15\/17\/21<\/td>\n | \u6821\u9a8c<\/td>\n<\/tr>\n | \n| CRC DEL<\/td>\n | 1<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n | \n| ACK<\/td>\n | 1<\/td>\n | \u663e\u6027(\u63a5\u6536\u65b9)<\/td>\n<\/tr>\n | \n| ACK DEL<\/td>\n | 1<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n | \n| EOF<\/td>\n | 7<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n | \n| IFS<\/td>\n | 3<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n4.2 \u5e27\u7c7b\u578b\u901f\u67e5<\/h4>\n\n\u5e27RTRIDE\u6570\u636e\u7528\u9014<\/tr>\n \n\n| \u6807\u51c6\u6570\u636e<\/td>\n | 0<\/td>\n | 0<\/td>\n | 0~8B<\/td>\n | \u4e3b\u7528<\/td>\n<\/tr>\n | \n| \u6807\u51c6\u8fdc\u7a0b<\/td>\n | 1<\/td>\n | 0<\/td>\n | \u65e0<\/td>\n | \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| \u6269\u5c55\u6570\u636e<\/td>\n | 0<\/td>\n | 1<\/td>\n | 0~8B<\/td>\n | J1939<\/td>\n<\/tr>\n | \n| \u6269\u5c55\u8fdc\u7a0b<\/td>\n | 1<\/td>\n | 1<\/td>\n | \u65e0<\/td>\n | \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| FD \u6570\u636e<\/td>\n | 0<\/td>\n | EDL=1<\/td>\n | 0~64B<\/td>\n | \u9ad8\u901f\u5927\u5757<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u5e27<\/td>\n | –<\/td>\n | –<\/td>\n | 6\u663e\u6027\/\u9690\u6027+8\u9690\u6027<\/td>\n | \u62a5\u9519<\/td>\n<\/tr>\n | \n| \u8fc7\u8f7d\u5e27<\/td>\n | –<\/td>\n | –<\/td>\n | 6\u663e\u6027+7\u9690\u6027<\/td>\n | \u6d41\u63a7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n4.3 CAN FD \u65b0\u589e\u4f4d<\/h4>\n\n\u4f4d\u542b\u4e49<\/tr>\n \n\n| EDL<\/td>\n | FD\u5e27\u6807\u8bc6(\u66ff\u4ee3\u7ecf\u5178r0)<\/td>\n<\/tr>\n | \n| BRS<\/td>\n | \u5207\u901f(1=\u6570\u636e\u6bb5\u9ad8\u901f)<\/td>\n<\/tr>\n | \n| ESI<\/td>\n | \u9519\u8bef\u72b6\u6001(1=\u88ab\u52a8\u9519\u8bef)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n4.4 DLC \u6620\u5c04(CAN FD)<\/h4>\n\nDLC\u7ecf\u5178FD<\/tr>\n \n\n| 0-8<\/td>\n | 0-8B<\/td>\n | 0-8B<\/td>\n<\/tr>\n | \n| 9<\/td>\n | –<\/td>\n | 12B<\/td>\n<\/tr>\n | \n| 10<\/td>\n | –<\/td>\n | 16B<\/td>\n<\/tr>\n | \n| 11<\/td>\n | –<\/td>\n | 20B<\/td>\n<\/tr>\n | \n| 12<\/td>\n | –<\/td>\n | 24B<\/td>\n<\/tr>\n | \n| 13<\/td>\n | –<\/td>\n | 32B<\/td>\n<\/tr>\n | \n| 14<\/td>\n | –<\/td>\n | 48B<\/td>\n<\/tr>\n | \n| 15<\/td>\n | –<\/td>\n | 64B<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u4e94\u3001\u9519\u8bef\u8ba1\u6570\u5668\u4e0e\u72b6\u6001\u901f\u67e5<\/h3>\n5.1 \u9519\u8bef\u8ba1\u6570\u89c4\u5219<\/h4>\n\n\u4e8b\u4ef6TEC\/REC \u53d8\u5316<\/tr>\n \n\n| \u53d1\u9001\u9519<\/td>\n | TEC +8<\/td>\n<\/tr>\n | \n| \u53d1\u9001\u6210\u529f<\/td>\n | TEC -1<\/td>\n<\/tr>\n | \n| \u63a5\u6536\u9519<\/td>\n | REC +8<\/td>\n<\/tr>\n | \n| \u63a5\u6536\u6210\u529f<\/td>\n | REC -1<\/td>\n<\/tr>\n | \n| \u4e3b\u52a8\u9519\u8bef\u6807\u5fd7\u671f\u95f4\u68c0\u6d4b\u663e\u6027<\/td>\n | +1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n5.2 \u72b6\u6001\u8f6c\u79fb<\/h4>\n\n\u72b6\u6001TEC\/REC\u9519\u8bef\u6807\u5fd7<\/tr>\n \n\n| \u4e3b\u52a8\u9519\u8bef<\/td>\n | <96<\/td>\n | 6\u663e\u6027(\u7834\u574f)<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u8b66\u544a<\/td>\n | \u226596<\/td>\n | –<\/td>\n<\/tr>\n | \n| \u88ab\u52a8\u9519\u8bef<\/td>\n | 96~127<\/td>\n | 6\u9690\u6027(\u4e0d\u7834\u574f)<\/td>\n<\/tr>\n | \n| \u603b\u7ebf\u5173\u95ed<\/td>\n | TEC\u2265128<\/td>\n | \u4e0d\u901a\u4fe1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n5.3 \u6062\u590d<\/h4>\n\n\u6062\u590d\u673a\u5236<\/tr>\n \n\n| \u4e3b\u52a8\u2192\u88ab\u52a8\u56de\u4e3b\u52a8<\/td>\n | TEC\/REC<96<\/td>\n<\/tr>\n | \n| \u603b\u7ebf\u5173\u95ed\u2192\u4e3b\u52a8<\/td>\n | 128\u00d711=1408\u9690\u6027(\u81ea\u52a8)\/ \u8f6f\u4ef6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n5.4 \u9519\u8bef\u7801(LEC)<\/h4>\n\nLEC\u9519\u8bef<\/tr>\n \n\n| 0<\/td>\n | \u65e0\u9519<\/td>\n<\/tr>\n | \n| 1<\/td>\n | \u4f4d\u586b\u5145\u9519<\/td>\n<\/tr>\n | \n| 2<\/td>\n | \u683c\u5f0f\u9519<\/td>\n<\/tr>\n | \n| 3<\/td>\n | ACK \u9519<\/td>\n<\/tr>\n | \n| 4<\/td>\n | \u4f4d1\u9519(\u9690\u6027\u4f4d\u53d1\u663e\u6027\u8bfb)<\/td>\n<\/tr>\n | \n| 5<\/td>\n | \u4f4d0\u9519(\u663e\u6027\u4f4d\u53d1\u9690\u6027\u8bfb)<\/td>\n<\/tr>\n | \n| 6<\/td>\n | CRC \u9519<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u516d\u3001\u9ad8\u5c42\u534f\u8bae\u901f\u67e5<\/h3>\n6.1 CANopen ID \u901f\u67e5<\/h4>\n\n\u5bf9\u8c61ID\u7528\u9014<\/tr>\n \n\n| NMT<\/td>\n | 0x000<\/td>\n | \u7f51\u7edc\u7ba1\u7406<\/td>\n<\/tr>\n | \n| \u7d27\u6025<\/td>\n | 0x080<\/td>\n | \u7d27\u6025\u62a5\u6587<\/td>\n<\/tr>\n | \n| PDO<\/td>\n | 0x181~0x57F<\/td>\n | \u8fc7\u7a0b\u6570\u636e(\u5b9e\u65f6)<\/td>\n<\/tr>\n | \n| SDO<\/td>\n | 0x581~0x67F<\/td>\n | \u670d\u52a1\u6570\u636e(\u914d\u7f6e)<\/td>\n<\/tr>\n | \n| \u5fc3\u8df3<\/td>\n | 0x700+<\/td>\n | \u8282\u70b9\u5fc3\u8df3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.2 J1939 29bit ID \u7f16\u7801<\/h4>\n\u4f18\u5148\u7ea7(3) | \u4fdd\u7559(1) | \u6570\u636e\u9875(1) | PF(8) | PS(8) | \u6e90\u5730\u5740(8)<\/p>\n \nPGN\u53c2\u6570<\/tr>\n \n\n| 61444<\/td>\n | EEC1 \u53d1\u52a8\u673a(\u8f6c\u901f0.125rpm\/bit)<\/td>\n<\/tr>\n | \n| 65262<\/td>\n | \u53d1\u52a8\u673a\u6e29\u5ea6(\u6c34\u6e29)<\/td>\n<\/tr>\n | \n| 65263<\/td>\n | \u53d1\u52a8\u673a\u4eea\u8868(\u6cb9\u538b)<\/td>\n<\/tr>\n | \n| 59904<\/td>\n | \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| 60416<\/td>\n | \u5e94\u7b54<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.3 UDS \u670d\u52a1\u901f\u67e5<\/h4>\n\nSID\u670d\u52a1\u8bf7\u6c42\u6b63\u54cd\u5e94<\/tr>\n \n\n| 0x10<\/td>\n | \u4f1a\u8bdd\u63a7\u5236<\/td>\n | 10 03<\/td>\n | 50 03<\/td>\n<\/tr>\n | \n| 0x11<\/td>\n | ECU \u590d\u4f4d<\/td>\n | 11 01<\/td>\n | 51 01<\/td>\n<\/tr>\n | \n| 0x22<\/td>\n | \u8bfb\u6570\u636e<\/td>\n | 22 F1 90<\/td>\n | 62 F1 90 data<\/td>\n<\/tr>\n | \n| 0x27<\/td>\n | \u5b89\u5168\u8bbf\u95ee<\/td>\n | 27 01\/02 key<\/td>\n | 67 01 seed\/67 02<\/td>\n<\/tr>\n | \n| 0x2E<\/td>\n | \u5199\u6570\u636e<\/td>\n | 2E F1 90 data<\/td>\n | 6E F1 90<\/td>\n<\/tr>\n | \n| 0x31<\/td>\n | \u4f8b\u7a0b\u63a7\u5236<\/td>\n | 31 01 FF 00<\/td>\n | 71 01 FF 00<\/td>\n<\/tr>\n | \n| 0x34<\/td>\n | \u8bf7\u6c42\u4e0b\u8f7d<\/td>\n | 34<\/td>\n | 74<\/td>\n<\/tr>\n | \n| 0x36<\/td>\n | \u4f20\u8f93\u6570\u636e<\/td>\n | 36<\/td>\n | 76<\/td>\n<\/tr>\n | \n| 0x37<\/td>\n | \u9000\u51fa\u4f20\u8f93<\/td>\n | 37<\/td>\n | 77<\/td>\n<\/tr>\n | \n| 0x3E<\/td>\n | \u4fdd\u6d3b<\/td>\n | 3E 00<\/td>\n | 7E 00<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.4 UDS NRC(\u5426\u5b9a\u54cd\u5e94\u7801)<\/h4>\n\nNRC\u542b\u4e49<\/tr>\n \n\n| 0x13<\/td>\n | \u683c\u5f0f\u9519<\/td>\n<\/tr>\n | \n| 0x22<\/td>\n | \u6761\u4ef6\u4e0d\u6ee1\u8db3<\/td>\n<\/tr>\n | \n| 0x24<\/td>\n | \u8bf7\u6c42\u5e8f\u5217\u9519<\/td>\n<\/tr>\n | \n| 0x31<\/td>\n | \u8d85\u8303\u56f4<\/td>\n<\/tr>\n | \n| 0x33<\/td>\n | \u5b89\u5168\u62d2\u7edd(\u672a\u89e3\u9501)<\/td>\n<\/tr>\n | \n| 0x78<\/td>\n | \u54cd\u5e94\u5f85\u5b9a(\u5fd9)<\/td>\n<\/tr>\n | \n| 0x7E<\/td>\n | \u5b50\u529f\u80fd\u4e0d\u652f\u6301<\/td>\n<\/tr>\n | \n| 0x7F<\/td>\n | \u670d\u52a1\u4e0d\u652f\u6301<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.5 ISO-TP \u5e27\u901f\u67e5<\/h4>\n\n\u7c7b\u578bPCI\u7528\u9014<\/tr>\n \n\n| SF<\/td>\n | 0x0N<\/td>\n | \u22647B \u5355\u5e27<\/td>\n<\/tr>\n | \n| FF<\/td>\n | 0x1x<\/td>\n | \u591a\u5e27\u9996\u5e27(\u603b\u957f+6B)<\/td>\n<\/tr>\n | \n| CF<\/td>\n | 0x2x<\/td>\n | \u7eed\u5e27(\u5e8f\u53f7+7B)<\/td>\n<\/tr>\n | \n| FC<\/td>\n | 0x3x<\/td>\n | \u6d41\u63a7(FS\/BS\/STmin)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.6 \u8bca\u65ad ID \u901f\u67e5<\/h4>\n\nID\u7528\u9014<\/tr>\n \n\n| 0x7DF<\/td>\n | \u5e7f\u64ad\u8bca\u65ad\u8bf7\u6c42<\/td>\n<\/tr>\n | \n| 0x7E0~0x7E7<\/td>\n | ECU \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| 0x7E8~0x7EF<\/td>\n | ECU \u54cd\u5e94<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u4e03\u3001AEGIX \u529f\u80fd\u5b89\u5168\u5ba1\u67e5\u6e05\u5355<\/h3>\n7.1 \u7269\u7406\u5c42<\/h4>\n\n- \u53cc\u7aef 120\u03a9 \u7ec8\u7aef(\u4e07\u7528\u8868\u6d4b 60\u03a9)<\/li>\n
- \u53cc\u7ede\u7ebf(CAN_H\/CAN_L)<\/li>\n
- \u5171\u6a21\u627c\u6d41\u5708(\u6c7d\u8f66\u7ea7)<\/li>\n
- TVS \u4fdd\u62a4(ESD\/EFT)<\/li>\n
- \u5206\u88c2\u7ec8\u7aef(60\u03a9+60\u03a9+4.7nF,\u53ef\u9009)<\/li>\n
- \u6536\u53d1\u5668\u6c7d\u8f66\u7ea7(AEC-Q100)<\/li>\n
- stub \u957f\u5ea6\u5408\u89c4(1M<0.3m)<\/li>\n
- \u8282\u70b9\u6570\u5408\u89c4(<30)<\/li>\n
- \u5b8c\u6574\u5730\u5e73\u9762<\/li>\n<\/ul>\n
7.2 \u534f\u8bae\u5c42<\/h4>\n\n- \u4f4d\u5b9a\u65f6\u5168\u7f51\u4e00\u81f4(BRP\/TSEG1\/TSEG2\/SJW)<\/li>\n
- \u91c7\u6837\u70b9 87.5%(\u4e3b\u6d41)<\/li>\n
- \u6676\u632f \u00b150ppm(\u7981 RC)<\/li>\n
- CAN FD \u53cc\u4f4d\u5b9a\u65f6(NBTP+DBTP)<\/li>\n
- \u5e27\u683c\u5f0f\u6b63\u786e(SOF\/ID\/CRC\/ACK\/EOF)<\/li>\n
- ID \u5206\u914d\u5408\u7406(\u4f18\u5148\u7ea7)<\/li>\n<\/ul>\n
7.3 \u4f20\u8f93\u5c42<\/h4>\n\n- \u9519\u8bef\u4e2d\u65ad\u5904\u7406(BOFF\/EPVF\/EWGF\/LEC)<\/li>\n
- \u9519\u8bef\u8ba1\u6570\u5668\u76d1\u63a7(TEC\/REC)<\/li>\n
- \u603b\u7ebf\u5173\u95ed\u6062\u590d(ABOM + \u6b21\u6570\u9650\u5236)<\/li>\n
- \u6062\u590d\u8d85\u9650\u8fdb\u5b89\u5168\u72b6\u6001<\/li>\n
- \u6062\u590d\u540e\u5e94\u7528\u5c42\u91cd\u65b0\u540c\u6b65<\/li>\n
- \u81ea\u52a8\u91cd\u53d1\u7b56\u7565(NART \u6216\u8f6f\u4ef6\u8d85\u65f6)<\/li>\n
- FIFO \u6ea2\u51fa\u5904\u7406(\u8986\u76d6\/\u9501\u5b9a)<\/li>\n<\/ul>\n
7.4 \u6570\u636e\u5c42<\/h4>\n\n- E2E \u4fdd\u62a4(CRC + \u5e8f\u5217\u53f7 + \u5b58\u6d3b\u8ba1\u6570)<\/li>\n
- \u5173\u952e\u6d88\u606f\u8d85\u65f6\u76d1\u63a7<\/li>\n
- \u5173\u952e\u63a7\u5236\u56de\u8bfb\u6821\u9a8c<\/li>\n
- \u6570\u636e\u6821\u9a8c(\u7aef\u5230\u7aef CRC)<\/li>\n<\/ul>\n
7.5 \u7cfb\u7edf\u5c42<\/h4>\n\n- \u53cc\u901a\u9053\u5197\u4f59(ASIL D,\u5173\u952e\u6d88\u606f\u53cc\u53d1)<\/li>\n
- \u5b89\u5168\u72b6\u6001(\u6545\u969c\u4e0d\u6267\u884c\u5371\u9669\u52a8\u4f5c)<\/li>\n
- \u770b\u95e8\u72d7(\u4efb\u52a1\u5b58\u6d3b\u76d1\u63a7)<\/li>\n
- \u9519\u8bef\u65e5\u5fd7(\u53ef\u8ffd\u6eaf)<\/li>\n
- \u6545\u969c\u6ce8\u5165\u6d4b\u8bd5<\/li>\n<\/ul>\n
7.6 \u8f6f\u4ef6\u5c42<\/h4>\n\n- ISR \u6700\u5c0f\u5316(\u53ea\u8bfb\u63a8\u961f\u5217)<\/li>\n
- RTOS \u96c6\u6210(\u6d88\u606f\u961f\u5217\/\u4fe1\u53f7\u91cf\/\u4e92\u65a5\u9501)<\/li>\n
- \u4e92\u65a5\u9501\u4fdd\u62a4(\u591a\u4efb\u52a1\u5171\u4eab)<\/li>\n
- \u7f13\u51b2\u5bf9\u9f50(DMA\/Cache)<\/li>\n
- \u9a71\u52a8\u5206\u5c42(\u5e94\u7528\u2192\u9a71\u52a8\u2192\u786c\u4ef6)<\/li>\n<\/ul>\n
\n\u516b\u3001\u5168\u7cfb\u5217\u8981\u70b9\u56de\u987e<\/h3>\n8.1 L1 \u786c\u4ef6\u57fa\u7840\u5c42(01-03)<\/h4>\n\n- 01 \u7269\u7406\u5c42:\u5dee\u5206\u4fe1\u53f7(CAN_H\/CAN_L),\u663e\u60272V\/\u9690\u60270V,\u7ebf\u4e0e,ISO 11898-2\u9ad8\u901f\/-3\u4f4e\u901f\/FD,\u6536\u53d1\u5668,120\u03a9\u53cc\u7aef\u7ec8\u7aef,NRZ+\u4f4d\u586b\u5145,CAN FD(5M\/64B)<\/li>\n
- 02 \u4fe1\u53f7\u5b8c\u6574\u6027:\u76f4\u7ebf\u603b\u7ebf\u62d3\u6251,stub\u957f\u5ea6(1M<0.3m),\u8282\u70b9\u657030,\u603b\u7ebf\u7535\u5bb9<100pF,\u53cc\u7aef\u7ec8\u7aef\u6291\u5236\u53cd\u5c04,\u5206\u88c2\u7ec8\u7aef\u6297EMI,\u5171\u6a21\u627c\u6d41\u5708,FD 5M SI\u4e25,\u6c7d\u8f66EMI\/EMS AEC-Q100<\/li>\n
- 03 \u4f4d\u5b9a\u65f6\u540c\u6b65:\u4f4d\u65f6\u95f4\u56db\u6bb5(SYNC_SEG+TSEG1+TSEG2),\u91c7\u6837\u70b987.5%,\u786c\u540c\u6b65(SOF)+\u91cd\u540c\u6b65(\u5e27\u4e2d\u8df3\u53d8),SJW 1~2Tq,\u65f6\u949f\u5bb9\u5dee0.1-0.5%\u9009\u00b150ppm\u6676\u632f,BTR\u914d\u7f6e,CAN FD\u53cc\u4f4d\u5b9a\u65f6(NBTP+DBTP)<\/li>\n<\/ul>\n
8.2 L2 \u534f\u8bae\u65f6\u5e8f\u5c42(04-07)<\/h4>\n\n- 04 \u5e27\u683c\u5f0f:\u56db\u79cd\u5e27(\u6570\u636e\/\u8fdc\u7a0b\/\u9519\u8bef\/\u8fc7\u8f7d),\u6570\u636e\u5e27\u4e03\u6bb5(SOF+\u4ef2\u88c1+\u63a7\u5236+\u6570\u636e+CRC+ACK+EOF+IFS),\u4ef2\u88c1\u6bb5(ID+RTR+IDE),DLC,CRC15\/17\/21,ACK\u673a\u5236,\u6807\u51c611bit\/\u6269\u5c5529bit,CAN FD(BRS\/ESI\/EDL)<\/li>\n
- 05 \u4ef2\u88c1\u4f18\u5148\u7ea7:CSMA\/CD+AMP,\u7ebf\u4e0e(\u663e\u6027\u8986\u76d6\u9690\u6027),\u9010\u4f4d\u4ef2\u88c1(ID\u9ad8\u4f4d\u6bd4\u8f83,\u53d1\u9690\u6027\u8bfb\u663e\u6027=\u8f93),ID\u8d8a\u5c0f\u4f18\u5148\u7ea7\u8d8a\u9ad8,\u4ef2\u88c1\u65e0\u51b2\u7a81(\u8f93\u7684\u8f6c\u63a5\u6536),\u540cID\u6570\u636e\u5e27>\u8fdc\u7a0b\u5e27\/\u6807\u51c6\u5e27>\u6269\u5c55\u5e27,\u4f18\u5148\u7ea7\u8bbe\u8ba1,\u997f\u6b7b\u95ee\u9898,CAN FD\u4ef2\u88c1\u6bb51M\u6570\u636e\u6bb5\u4e0d\u4ef2\u88c1<\/li>\n
- 06 \u9519\u8bef\u5904\u7406:\u4e94\u79cd\u9519\u8bef\u68c0\u6d4b(\u4f4d\u76d1\u63a7\/\u4f4d\u586b\u5145\/CRC\/\u683c\u5f0f\/ACK),\u9519\u8bef\u5e27(\u4e3b\u52a86\u663e\u6027\/\u88ab\u52a86\u9690\u6027+8\u9690\u6027),\u9519\u8bef\u8ba1\u6570\u5668(TEC\/REC,\u9519+8\u6210\u529f-1),\u8282\u70b9\u72b6\u6001(\u4e3b\u52a8<96\/\u88ab\u52a896-127\/\u603b\u7ebf\u5173\u95ed\u2265128),\u81ea\u52a8\u91cd\u53d1,\u603b\u7ebf\u5173\u95ed\u6062\u590d(1408\u9690\u6027\/\u8f6f\u4ef6)<\/li>\n
- 07 \u9ad8\u5c42\u534f\u8bae:CANopen(\u5bf9\u8c61\u5b57\u5178+PDO+SDO+\u5fc3\u8df3),J1939(29bit ID\u7f16\u7801PGN),UDS(\u8bca\u65ad\u670d\u52a10x10\/0x22\/0x2E\/0x27\u5237\u5199),ISO-TP(SF\/FF\/CF\/FC\u5927\u62a5\u6587\u5206\u5305),CAN FD\u9002\u914d(64B\u5355\u5e27)<\/li>\n<\/ul>\n
8.3 L3 \u9a71\u52a8\u5b9e\u73b0\u5c42(08-11)<\/h4>\n\n- 08 \u63a7\u5236\u5668\u5bc4\u5b58\u5668:Bosch C_CAN\/M_CAN IP,STM32 bxCAN\/FDCAN\u5bc4\u5b58\u5668(MCR\/MSR\/BTR\/ESR\/\u90ae\u7bb1\/FIFO\/\u8fc7\u6ee4\u5668),\u53d1\u9001\u90ae\u7bb13\u4e2a,\u63a5\u6536FIFO 2\u00d73\u7ea7,\u9a8c\u6536\u8fc7\u6ee4\u5668(\u5217\u8868\/\u5c4f\u853d),RISC-V N300 M_CAN(\u540cFDCAN\u6539\u57fa\u5740)<\/li>\n
- 09 \u4f20\u8f93\u6a21\u5f0f:\u8f6e\u8be2(\u8c03\u8bd5)\/\u4e2d\u65ad(\u4e3b\u6d41)\/DMA(FD\u5927\u5757),\u53d1\u9001\u90ae\u7bb1\u961f\u5217(3\u90ae\u7bb1+\u8f6f\u4ef6\u961f\u5217),\u63a5\u6536FIFO\u5904\u7406(\u8986\u76d6\/\u9501\u5b9a),RTOS\u96c6\u6210(\u6d88\u606f\u961f\u5217+\u4fe1\u53f7\u91cf+\u4e92\u65a5\u9501),ISR\u6700\u5c0f\u5316<\/li>\n
- 10 \u9519\u8bef\u6062\u590d:\u9519\u8bef\u8ba1\u6570\u5668\u76d1\u63a7,\u72b6\u6001\u8f6c\u79fb\u5904\u7406,\u603b\u7ebf\u5173\u95ed\u6062\u590d(ABOM\/\u8f6f\u4ef6\/\u6df7\u5408),\u529f\u80fd\u5b89\u5168\u7aef\u5230\u7aef\u4fdd\u62a4(\u534f\u8bae\u5c42CRC\/ACK+\u5e94\u7528\u5c42E2E+\u5e8f\u5217\u53f7+\u8d85\u65f6+\u56de\u8bfb+\u5197\u4f59+\u5b89\u5168\u72b6\u6001+\u770b\u95e8\u72d7),AEGIX CAN\u5bb9\u9519(\u53cc\u901a\u9053\u5197\u4f59+\u6062\u590d\u6b21\u6570\u9650\u5236)<\/li>\n
- 11 Linux\u6846\u67b6:SocketCAN(CAN\u5f53\u7f51\u7edc\u63a5\u53e3),PF_CAN\u534f\u8bae\u65cf(RAW\/BCM\/ISO-TP\/J1939),can-dev\u6846\u67b6(c_can\/m_can),\u8bbe\u5907\u6811(bit-timing+can-fd),\u7528\u6237\u6001socket API,can-utils(candump\/cansend),ISO-TP\/J1939\u5185\u7f6e<\/li>\n<\/ul>\n
8.4 L4 \u5e94\u7528\u5b9e\u6218\u5c42(12-14)<\/h4>\n\n- 12 \u8bbe\u5907\u5b9e\u6218:\u88f8\u673a\u6536\u53d1\u9a71\u52a8,\u9a8c\u6536\u8fc7\u6ee4\u5668\u914d\u7f6e,\u73af\u56de\u6d4b\u8bd5,CANopen\u8282\u70b9(\u5bf9\u8c61\u5b57\u5178\/PDO\/SDO\/\u5fc3\u8df3),J1939\u89e3\u6790(PGN\/SPN),UDS\u8bca\u65ad(0x10\/0x22\/0x27\/0x2E),ISO-TP\u591a\u5e27(SF\/FF\/CF\/FC),\u591aCAN\u901a\u9053+RTOS,\u53cc\u901a\u9053\u5197\u4f59<\/li>\n
- 13 \u8c03\u8bd5\u6392\u67e5:\u5de5\u5177\u94fe\u5206\u5c42(candump\/\u903b\u8f91\u5206\u6790\u4eea\/\u793a\u6ce2\u5668\/\u4e07\u7528\u8868\/dmesg),candump\u6293\u5305,\u903b\u8f91\u5206\u6790\u4eea\u5dee\u5206\u89e3\u7801,\u793a\u6ce2\u5668\u770b\u5dee\u5206\u6ce2\u5f62,\u4e07\u7528\u8868\u6d4b\u7ec8\u7aef60\u03a9,\u9519\u8bef\u5e27\u5206\u6790,\u4f4d\u5b9a\u65f6\/\u7ec8\u7aef\u95ee\u9898\u6392\u67e5,\u5178\u578b\u6545\u969c\u5b9a\u4f4d,\u964d\u901f\u8c03\u8bd5\u6cd5<\/li>\n
- 14 \u6392\u67e5\u624b\u518c:\u6545\u969c\u51b3\u7b56\u6811(5\u5927\u7c7b),19\u6545\u969c\u901f\u67e5,\u4f4d\u5b9a\u65f6\/\u5e27\u683c\u5f0f\/\u9519\u8bef\u8ba1\u6570\u5668\/\u9ad8\u5c42\u534f\u8bae\u901f\u67e5,AEGIX\u529f\u80fd\u5b89\u5168\u5ba1\u67e5\u6e05\u5355(6\u5c42),\u5168\u7cfb\u5217\u56de\u987e,\u5b66\u4e60\u8def\u5f84,\u56db\u603b\u7ebf\u603b\u5bf9\u7167\u8868<\/li>\n<\/ul>\n
\n\u4e5d\u3001\u5b66\u4e60\u8def\u5f84<\/h3>\n9.1 \u4e94\u9636\u6bb5\u8def\u5f84<\/h4>\n\n\u9636\u6bb5\u76ee\u6807\u6587\u7ae0<\/tr>\n \n\n| \u5165\u95e8<\/td>\n | \u7406\u89e3 CAN \u662f\u4ec0\u4e48<\/td>\n | 01 \u2192 04 \u2192 05<\/td>\n<\/tr>\n | \n| \u786c\u4ef6<\/td>\n | \u4f1a\u8bbe\u8ba1 CAN \u786c\u4ef6<\/td>\n | 02 \u2192 03 \u2192 06<\/td>\n<\/tr>\n | \n| \u9a71\u52a8<\/td>\n | \u4f1a\u5199\u88f8\u673a\u9a71\u52a8<\/td>\n | 08 \u2192 09 \u2192 10<\/td>\n<\/tr>\n | \n| \u7cfb\u7edf<\/td>\n | \u4f1a Linux CAN<\/td>\n | 11 \u2192 12<\/td>\n<\/tr>\n | \n| \u4e13\u5bb6<\/td>\n | \u4f1a\u8c03\u8bd5 + \u529f\u80fd\u5b89\u5168<\/td>\n | 07 \u2192 13 \u2192 14<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n9.2 \u5bf9\u7167\u5b66\u4e60\u6cd5<\/h4>\n\n- CAN vs SPI:\u5dee\u5206 vs \u5355\u7aef,\u591a\u4e3b vs \u5355\u4e3b,\u6709ACK vs \u65e0ACK<\/li>\n
- CAN vs I2C:\u5dee\u5206 vs \u5f00\u6f0f,\u4f18\u5148\u7ea7\u4ef2\u88c1 vs \u90fd\u9000,\u6c7d\u8f66\u7ea7 vs \u677f\u7ea7<\/li>\n
- CAN vs UART:\u603b\u7ebf vs \u70b9\u5bf9\u70b9,\u540c\u6b65 vs \u5f02\u6b65,\u591a\u4e3b vs \u5355\u4e3b\u5355\u4ece<\/li>\n<\/ul>\n
9.3 \u5b9e\u6218\u5efa\u8bae<\/h4>\n\n- \u5148\u7528 candump\/cansend \u5728 Linux \u4e0a\u73a9(\u76f4\u89c2)<\/li>\n
- \u7528\u903b\u8f91\u5206\u6790\u4eea\u770b\u6ce2\u5f62(\u7406\u89e3\u7269\u7406\u5c42)<\/li>\n
- \u5199\u88f8\u673a\u9a71\u52a8(\u7406\u89e3\u5bc4\u5b58\u5668)<\/li>\n
- \u5b9e\u73b0 UDS\/ISO-TP(\u6c7d\u8f66\u5b9e\u6218)<\/li>\n
- \u505a\u529f\u80fd\u5b89\u5168\u8bbe\u8ba1(AEGIX \u7ea7)<\/li>\n<\/ul>\n
\n\u5341\u3001CAN vs UART vs I2C vs SPI \u603b\u5bf9\u7167\u8868<\/h3>\n10.1 \u7269\u7406\u5c42<\/h4>\n\n\u7ef4\u5ea6UARTI2CSPICAN<\/tr>\n \n\n| \u7ebf\u6570<\/td>\n | 2(TX\/RX)<\/td>\n | 2(SDA\/SCL)<\/td>\n | 3+(SCK\/MOSI\/MISO\/CS)<\/td>\n | 2(CAN_H\/L)<\/td>\n<\/tr>\n | \n| \u7535\u6c14<\/td>\n | \u5355\u7aef<\/td>\n | \u5f00\u6f0f+\u4e0a\u62c9<\/td>\n | \u5355\u7aef\/\u63a8\u633d<\/td>\n | \u5dee\u5206<\/td>\n<\/tr>\n | \n| \u7535\u5e73<\/td>\n | TTL\/RS232<\/td>\n | \u4e0a\u62c9\u5230VCC<\/td>\n | TTL<\/td>\n | \u5dee\u52062V\/0V<\/td>\n<\/tr>\n | \n| \u540c\u6b65<\/td>\n | \u5f02\u6b65<\/td>\n | \u540c\u6b65(SCL)<\/td>\n | \u540c\u6b65(SCK)<\/td>\n | \u540c\u6b65(\u4f4d\u586b\u5145)<\/td>\n<\/tr>\n | \n| \u62d3\u6251<\/td>\n | \u70b9\u5bf9\u70b9<\/td>\n | \u603b\u7ebf<\/td>\n | \u4e3b\u4ece\u661f\u578b\/\u603b\u7ebf<\/td>\n | \u76f4\u7ebf\u603b\u7ebf<\/td>\n<\/tr>\n | \n| \u7ec8\u7aef<\/td>\n | \u65e0<\/td>\n | \u4e0a\u62c9<\/td>\n | \u65e0<\/td>\n | 120\u03a9\u53cc\u7aef<\/td>\n<\/tr>\n | \n| \u901f\u5ea6<\/td>\n | \u22643M<\/td>\n | \u22643.4M(\u9ad8\u901f)<\/td>\n | \u226450M+<\/td>\n | \u22641M(\u7ecf\u5178)\/8M(FD)<\/td>\n<\/tr>\n | \n| \u8ddd\u79bb<\/td>\n | RS232 15m<\/td>\n | \u677f\u7ea7<\/td>\n | \u677f\u7ea7<\/td>\n | 1M=40m,125k=500m<\/td>\n<\/tr>\n | \n| \u6297\u6270<\/td>\n | \u5f31(\u5355\u7aef)<\/td>\n | \u5f31(\u5f00\u6f0f)<\/td>\n | \u5f31(\u5355\u7aef)<\/td>\n | \u5f3a(\u5dee\u5206)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n10.2 \u534f\u8bae\u5c42<\/h4>\n\n\u7ef4\u5ea6UARTI2CSPICAN<\/tr>\n \n\n| \u5e27<\/td>\n | START+\u6570\u636e+STOP<\/td>\n | START+\u5730\u5740+ACK+\u6570\u636e+STOP<\/td>\n | CS+\u65f6\u949f+\u6570\u636e<\/td>\n | SOF+ID+\u63a7\u5236+\u6570\u636e+CRC+ACK+EOF<\/td>\n<\/tr>\n | \n| \u5bfb\u5740<\/td>\n | \u65e0(\u70b9\u5bf9\u70b9)<\/td>\n | 7\/10bit\u5730\u5740<\/td>\n | CS\u786c\u4ef6\u9009<\/td>\n | ID(11\/29bit)<\/td>\n<\/tr>\n | \n| \u53cc\u5de5<\/td>\n | \u5168\u53cc\u5de5<\/td>\n | \u534a\u53cc\u5de5<\/td>\n | \u5168\u53cc\u5de5<\/td>\n | \u534a\u53cc\u5de5<\/td>\n<\/tr>\n | \n| \u5e94\u7b54<\/td>\n | \u65e0<\/td>\n | ACK\/NACK<\/td>\n | \u65e0<\/td>\n | ACK(\u591a\u8282\u70b9)<\/td>\n<\/tr>\n | \n| \u591a\u4e3b<\/td>\n | \u5426<\/td>\n | \u662f(\u4ef2\u88c1\u90fd\u9000)<\/td>\n | \u5426<\/td>\n | \u662f(\u4f18\u5148\u7ea7\u4ef2\u88c1)<\/td>\n<\/tr>\n | \n| \u4ef2\u88c1<\/td>\n | \u65e0<\/td>\n | \u7ebf\u4e0e\u90fd\u9000<\/td>\n | \u65e0(\u5355\u4e3b)<\/td>\n | CSMA\/CD+AMP\u4f18\u5148\u7ea7<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u68c0\u6d4b<\/td>\n | \u5947\u5076(\u53ef\u9009)<\/td>\n | ACK\/NACK<\/td>\n | \u65e0<\/td>\n | 5\u79cd(\u4f4d\u76d1\u63a7\/\u586b\u5145\/CRC\/\u683c\u5f0f\/ACK)<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u6062\u590d<\/td>\n | \u65e0<\/td>\n | \u91cd\u8bd5<\/td>\n | \u65e0<\/td>\n | \u9519\u8bef\u5e27+\u81ea\u52a8\u91cd\u53d1+\u603b\u7ebf\u5173\u95ed<\/td>\n<\/tr>\n | \n| \u6d41\u63a7<\/td>\n | \u786c\u4ef6\/\u8f6f\u4ef6<\/td>\n | \u65e0<\/td>\n | \u65e0<\/td>\n | \u8fc7\u8f7d\u5e27(\u5c11\u7528)<\/td>\n<\/tr>\n | \n| \u6570\u636e\u957f\u5ea6<\/td>\n | \u5e278\/9bit<\/td>\n | \u4efb\u610f(\u6bcf\u5e278bit)<\/td>\n | \u4efb\u610f<\/td>\n | 0-8\u7ecf\u5178\/0-64 FD<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n10.3 \u5e94\u7528\u573a\u666f<\/h4>\n\n\u573a\u666f\u603b\u7ebf\u539f\u56e0<\/tr>\n \n\n| \u8c03\u8bd5\u4e32\u53e3<\/td>\n | UART<\/td>\n | \u7b80\u5355\u70b9\u5bf9\u70b9<\/td>\n<\/tr>\n | \n| GPS\/\u84dd\u7259\u6a21\u5757<\/td>\n | UART<\/td>\n | \u70b9\u5bf9\u70b9<\/td>\n<\/tr>\n | \n| \u4f20\u611f\u5668(\u6e29\u6e7f\u5ea6)<\/td>\n | I2C<\/td>\n | \u4f4e\u901f\u677f\u7ea7\u591a\u8bbe\u5907<\/td>\n<\/tr>\n | \n| EEPROM<\/td>\n | I2C<\/td>\n | \u677f\u7ea7\u5b58\u50a8<\/td>\n<\/tr>\n | \n| OLED\/Flash<\/td>\n | SPI<\/td>\n | \u9ad8\u901f<\/td>\n<\/tr>\n | \n| ADC\/DAC<\/td>\n | SPI<\/td>\n | \u9ad8\u901f<\/td>\n<\/tr>\n | \n| \u6c7d\u8f66ECU\u901a\u4fe1<\/td>\n | CAN<\/td>\n | \u6c7d\u8f66\u7ea7\u53ef\u9760+\u591a\u4e3b<\/td>\n<\/tr>\n | \n| \u5de5\u4e1a\u81ea\u52a8\u5316<\/td>\n | CAN\/CANopen<\/td>\n | \u53ef\u9760+\u5b9e\u65f6<\/td>\n<\/tr>\n | \n| \u5546\u7528\u8f66<\/td>\n | J1939(CAN)<\/td>\n | \u6807\u51c6\u5316<\/td>\n<\/tr>\n | \n| \u6c7d\u8f66\u8bca\u65ad<\/td>\n | UDS(CAN)<\/td>\n | \u8bca\u65ad\u6807\u51c6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n10.4 \u8c03\u8bd5<\/h4>\n\n\u7ef4\u5ea6UARTI2CSPICAN<\/tr>\n \n\n| \u5de5\u5177<\/td>\n | \u4e32\u53e3\u5de5\u5177<\/td>\n | \u903b\u8f91\u5206\u6790\u4eea<\/td>\n | \u903b\u8f91\u5206\u6790\u4eea+\u793a\u6ce2\u5668<\/td>\n | candump+\u903b\u8f91\u5206\u6790\u4eea+\u793a\u6ce2\u5668+\u4e07\u7528\u8868<\/td>\n<\/tr>\n | \n| \u96be\u5ea6<\/td>\n | \u4f4e<\/td>\n | \u4e2d<\/td>\n | \u4e2d\u9ad8<\/td>\n | \u9ad8<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u5206\u6790<\/td>\n | \u7b80\u5355<\/td>\n | ACK\/NACK<\/td>\n | \u65e0(\u8f6f\u4ef6)<\/td>\n | \u9519\u8bef\u72b6\u6001\u673a(\u590d\u6742)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n10.5 \u9009\u578b\u51b3\u7b56\u6811<\/h4>\n\u8981\u4f20\u4ec0\u4e48?
\n\u251c\u2500 \u70b9\u5bf9\u70b9\u8c03\u8bd5\/\u6a21\u5757 \u2192 UART
\n\u251c\u2500 \u677f\u7ea7\u591a\u8bbe\u5907\u4f4e\u901f \u2192 I2C
\n\u251c\u2500 \u677f\u7ea7\u9ad8\u901f(Flash\/OLED\/ADC) \u2192 SPI
\n\u251c\u2500 \u6c7d\u8f66\/\u5de5\u4e1a\u591a\u4e3b\u53ef\u9760 \u2192 CAN
\n\u2502 \u251c\u2500 \u5546\u7528\u8f66 \u2192 J1939
\n\u2502 \u251c\u2500 \u5de5\u4e1a\u81ea\u52a8\u5316 \u2192 CANopen
\n\u2502 \u2514\u2500 \u6c7d\u8f66\u8bca\u65ad \u2192 UDS
\n\u2514\u2500 \u5927\u6570\u636e\u9ad8\u901f \u2192 CAN FD(64B\/\u5e27)<\/p>\n
\n\u5ef6\u4f38\u9605\u8bfb<\/h3>\nCAN \u5168\u7cfb\u5217<\/h4>\n\n- [[01-CAN\u7269\u7406\u5c42\u4e0e\u5dee\u5206\u7535\u6c14]] \/ [[02-CAN\u4fe1\u53f7\u5b8c\u6574\u6027\u4e0e\u62d3\u6251]] \/ [[03-CAN\u4f4d\u5b9a\u65f6\u4e0e\u540c\u6b65]]<\/li>\n
- [[04-CAN\u5e27\u683c\u5f0f]] \/ [[05-CAN\u4ef2\u88c1\u4e0e\u4f18\u5148\u7ea7]] \/ [[06-CAN\u9519\u8bef\u5904\u7406\u4e0e\u9519\u8bef\u5e27]] \/ [[07-CAN\u9ad8\u5c42\u534f\u8bae]]<\/li>\n
- [[08-CAN\u63a7\u5236\u5668\u5bc4\u5b58\u5668\u4e0eIP\u67b6\u6784]] \/ [[09-CAN\u4f20\u8f93\u6a21\u5f0f-\u8f6e\u8be2-\u4e2d\u65ad-DMA]] \/ [[10-CAN\u9519\u8bef\u6062\u590d\u4e0e\u603b\u7ebf\u5173\u95ed]] \/ [[11-CAN Linux\u9a71\u52a8\u6846\u67b6]]<\/li>\n
- [[12-CAN\u8bbe\u5907\u9a71\u52a8\u5b9e\u6218]] \/ [[13-CAN\u8c03\u8bd5\u4e0e\u6392\u67e5]]<\/li>\n<\/ul>\n
\u5bf9\u7167\u5b66\u4e60<\/h4>\n\n- [[14-SPI\u6392\u67e5\u624b\u518c\u4e0e\u901f\u67e5\u8868]] \u2014\u2014 SPI \u6536\u5b98 + \u56db\u603b\u7ebf\u5bf9\u7167<\/li>\n
- [[14-I2C\u6392\u67e5\u624b\u518c\u4e0e\u901f\u67e5\u8868]] \u2014\u2014 I2C \u6536\u5b98<\/li>\n
- [[00-CAN\u6280\u672f\u7cfb\u5217\u603b\u76ee\u5f55]] \u2014\u2014 CAN \u603b\u76ee\u5f55<\/li>\n<\/ul>\n
\u53c2\u8003\u8d44\u6599<\/h3>\n\n- Bosch CAN Specification 2.0 \/ CAN FD<\/li>\n
- ISO 11898-1(\u6570\u636e\u94fe\u8def\u5c42)\/ -2(\u7269\u7406\u5c42)<\/li>\n
- CiA 301(CANopen)\/ SAE J1939 \/ ISO 14229(UDS)\/ ISO 15765(ISO-TP)<\/li>\n
- ISO 26262 \u529f\u80fd\u5b89\u5168<\/li>\n
- STM32 RM0090\/RM0433<\/li>\n
- Linux Documentation\/networking\/can.rst<\/li>\n<\/ul>\n
\n[[00-CAN\u6280\u672f\u7cfb\u5217\u603b\u76ee\u5f55]] \u00b7 \u4e0a\u4e00\u7bc7:[[13-CAN\u8c03\u8bd5\u4e0e\u6392\u67e5]] \u00b7 CAN \u7cfb\u5217\u5b8c\u7ed3<\/p>\n
\n\u521b\u5efa\u65e5\u671f:2026-10-08<\/p>\n \u672c\u7bc7\u5b9a\u4f4d:CAN \u7cfb\u5217\u6536\u5b98\u7bc7\u3002\u6545\u969c\u51b3\u7b56\u6811 + \u5168\u7cfb\u5217\u901f\u67e5\u8868 + \u529f\u80fd\u5b89\u5168\u5ba1\u67e5\u6e05\u5355 + \u5168\u7cfb\u5217\u8981\u70b9\u56de\u987e + \u603b\u5bf9\u7167\u8868\u3002\u9047\u5230 CAN \u95ee\u9898,\u7ffb\u8fd9\u4e00\u7bc7\u3002\u8bfb\u5b8c\u4f60\u6709\u4e00\u672c CAN \u5de5\u7a0b\u5e08\u901f\u67e5\u624b\u518c\u3002<\/p>\n \u8fd9\u662f CAN \u5de5\u7a0b\u5e08\u7684"\u6025\u6551\u624b\u518c" SPI 14 \u662f SPI \u6536\u5b98\u901f\u67e5\u3002CAN 14 \u662f CAN \u6536\u5b98\u901f\u67e5\u2014\u2014\u6545\u969c\u51b3\u7b56\u6811(\u4ece\u73b0\u8c61\u5230\u6839\u56e0)+ 19 \u6545\u969c\u901f\u67e5 + \u4f4d\u5b9a\u65f6\/\u5e27\u683c\u5f0f\/\u9519\u8bef\u8ba1\u6570\u5668\/\u9ad8\u5c42\u534f\u8bae\/AEGIX \u529f\u80fd\u5b89\u5168\u6e05\u5355 + \u5168\u7cfb\u5217 01-14 \u56de\u987e + CAN vs UART vs I2C vs SPI \u603b\u5bf9\u7167\u8868\u3002\u6253\u5370\u8d34\u5899,\u6392\u67e5\u4e0d\u614c\u3002\u5bf9\u7167 [[14-SPI\u6392\u67e5\u624b\u518c\u4e0e\u901f\u67e5\u8868]] \u770b,\u56db\u603b\u7ebf\u901f\u67e5\u624b\u518c\u9f50\u4e86\u3002<\/p>\n
\n\u76ee\u5f55<\/h4>\n\n- \n
\n- tags: [\u5b66\u4e60, \u5d4c\u5165\u5f0f, CAN, \u6392\u67e5\u624b\u518c, \u901f\u67e5\u8868, \u51b3\u7b56\u6811, \u4f4d\u5b9a\u65f6, \u5e27\u683c\u5f0f, \u9519\u8bef\u8ba1\u6570\u5668, \u9ad8\u5c42\u534f\u8bae, \u529f\u80fd\u5b89\u5168, \u5168\u7cfb\u5217\u56de\u987e, \u603b\u5bf9\u7167\u8868] created: 2026-10-08 updated: 2026-10-08 status: \u4e13\u9898\u8fdb\u884c\u4e2d \u6240\u5c5e\u4e13\u9898: "[[00-CAN\u6280\u672f\u7cfb\u5217\u603b\u76ee\u5f55]]" \u5bf9\u5e94\u6a21\u5757: 14 \u6392\u67e5\u624b\u518c\u4e0e\u901f\u67e5\u8868<\/li>\n<\/ul>\n<\/li>\n
- 14 \u00b7 CAN \u6392\u67e5\u624b\u518c\u4e0e\u901f\u67e5\u8868(CAN \u6536\u5b98)<\/li>\n
- \n
\n- \u76ee\u5f55<\/li>\n
- \u4e00\u3001\u6545\u969c\u51b3\u7b56\u6811<\/li>\n
- \n
\n- 1.1 A \u7c7b:\u5b8c\u5168\u4e0d\u901a<\/li>\n
- 1.2 B \u7c7b:\u5076\u53d1\u9519<\/li>\n
- 1.3 C \u7c7b:\u9519\u8bef\u72b6\u6001<\/li>\n
- 1.4 D \u7c7b:\u6570\u636e\u9519<\/li>\n
- 1.5 E \u7c7b:Linux \u6846\u67b6<\/li>\n<\/ul>\n<\/li>\n
- \u4e8c\u3001\u5e38\u89c1\u6545\u969c\u901f\u67e5\u8868<\/li>\n
- \u4e09\u3001\u4f4d\u5b9a\u65f6\u901f\u67e5<\/li>\n
- \n
\n- 3.1 \u4f4d\u5b9a\u65f6\u5e38\u7528\u914d\u7f6e(f_CAN=48MHz)<\/li>\n
- 3.2 CAN FD \u53cc\u4f4d\u5b9a\u65f6(f_CAN=80MHz)<\/li>\n
- 3.3 BTR \u914d\u7f6e\u516c\u5f0f<\/li>\n
- 3.4 \u901f\u7387-\u8ddd\u79bb-\u7ea6\u675f\u901f\u67e5<\/li>\n<\/ul>\n<\/li>\n
- \u56db\u3001\u5e27\u683c\u5f0f\u901f\u67e5<\/li>\n
- \n
\n- 4.1 \u6570\u636e\u5e27(\u6807\u51c6\u5e27 8 \u5b57\u8282)<\/li>\n
- 4.2 \u5e27\u7c7b\u578b\u901f\u67e5<\/li>\n
- 4.3 CAN FD \u65b0\u589e\u4f4d<\/li>\n
- 4.4 DLC \u6620\u5c04(CAN FD)<\/li>\n<\/ul>\n<\/li>\n
- \u4e94\u3001\u9519\u8bef\u8ba1\u6570\u5668\u4e0e\u72b6\u6001\u901f\u67e5<\/li>\n
- \n
\n- 5.1 \u9519\u8bef\u8ba1\u6570\u89c4\u5219<\/li>\n
- 5.2 \u72b6\u6001\u8f6c\u79fb<\/li>\n
- 5.3 \u6062\u590d<\/li>\n
- 5.4 \u9519\u8bef\u7801(LEC)<\/li>\n<\/ul>\n<\/li>\n
- \u516d\u3001\u9ad8\u5c42\u534f\u8bae\u901f\u67e5<\/li>\n
- \n
\n- 6.1 CANopen ID \u901f\u67e5<\/li>\n
- 6.2 J1939 29bit ID \u7f16\u7801<\/li>\n
- 6.3 UDS \u670d\u52a1\u901f\u67e5<\/li>\n
- 6.4 UDS NRC(\u5426\u5b9a\u54cd\u5e94\u7801)<\/li>\n
- 6.5 ISO-TP \u5e27\u901f\u67e5<\/li>\n
- 6.6 \u8bca\u65ad ID \u901f\u67e5<\/li>\n<\/ul>\n<\/li>\n
- \u4e03\u3001AEGIX \u529f\u80fd\u5b89\u5168\u5ba1\u67e5\u6e05\u5355<\/li>\n
- \n
\n- 7.1 \u7269\u7406\u5c42<\/li>\n
- 7.2 \u534f\u8bae\u5c42<\/li>\n
- 7.3 \u4f20\u8f93\u5c42<\/li>\n
- 7.4 \u6570\u636e\u5c42<\/li>\n
- 7.5 \u7cfb\u7edf\u5c42<\/li>\n
- 7.6 \u8f6f\u4ef6\u5c42<\/li>\n<\/ul>\n<\/li>\n
- \u516b\u3001\u5168\u7cfb\u5217\u8981\u70b9\u56de\u987e<\/li>\n
- \n
\n- 8.1 L1 \u786c\u4ef6\u57fa\u7840\u5c42(01-03)<\/li>\n
- 8.2 L2 \u534f\u8bae\u65f6\u5e8f\u5c42(04-07)<\/li>\n
- 8.3 L3 \u9a71\u52a8\u5b9e\u73b0\u5c42(08-11)<\/li>\n
- 8.4 L4 \u5e94\u7528\u5b9e\u6218\u5c42(12-14)<\/li>\n<\/ul>\n<\/li>\n
- \u4e5d\u3001\u5b66\u4e60\u8def\u5f84<\/li>\n
- \n
\n- 9.1 \u4e94\u9636\u6bb5\u8def\u5f84<\/li>\n
- 9.2 \u5bf9\u7167\u5b66\u4e60\u6cd5<\/li>\n
- 9.3 \u5b9e\u6218\u5efa\u8bae<\/li>\n<\/ul>\n<\/li>\n
- \u5341\u3001CAN vs UART vs I2C vs SPI \u603b\u5bf9\u7167\u8868<\/li>\n
- \n
\n- 10.1 \u7269\u7406\u5c42<\/li>\n
- 10.2 \u534f\u8bae\u5c42<\/li>\n
- 10.3 \u5e94\u7528\u573a\u666f<\/li>\n
- 10.4 \u8c03\u8bd5<\/li>\n
- 10.5 \u9009\u578b\u51b3\u7b56\u6811<\/li>\n<\/ul>\n<\/li>\n
- \u5ef6\u4f38\u9605\u8bfb<\/li>\n
- \n
\n- CAN \u5168\u7cfb\u5217<\/li>\n
- \u5bf9\u7167\u5b66\u4e60<\/li>\n<\/ul>\n<\/li>\n
- \u53c2\u8003\u8d44\u6599<\/li>\n<\/ul>\n<\/li>\n
- \u4e00\u3001\u6545\u969c\u51b3\u7b56\u6811<\/li>\n
- \n
\n- 1.1 A \u7c7b:\u5b8c\u5168\u4e0d\u901a<\/li>\n
- 1.2 B \u7c7b:\u5076\u53d1\u9519<\/li>\n
- 1.3 C \u7c7b:\u9519\u8bef\u72b6\u6001<\/li>\n
- 1.4 D \u7c7b:\u6570\u636e\u9519<\/li>\n
- 1.5 E \u7c7b:Linux \u6846\u67b6<\/li>\n<\/ul>\n<\/li>\n
- \u4e8c\u3001\u5e38\u89c1\u6545\u969c\u901f\u67e5\u8868<\/li>\n
- \u4e09\u3001\u4f4d\u5b9a\u65f6\u901f\u67e5<\/li>\n
- \n
\n- 3.1 \u4f4d\u5b9a\u65f6\u5e38\u7528\u914d\u7f6e(f_CAN=48MHz)<\/li>\n
- 3.2 CAN FD \u53cc\u4f4d\u5b9a\u65f6(f_CAN=80MHz)<\/li>\n
- 3.3 BTR \u914d\u7f6e\u516c\u5f0f<\/li>\n
- 3.4 \u901f\u7387-\u8ddd\u79bb-\u7ea6\u675f\u901f\u67e5<\/li>\n<\/ul>\n<\/li>\n
- \u56db\u3001\u5e27\u683c\u5f0f\u901f\u67e5<\/li>\n
- \n
\n- 4.1 \u6570\u636e\u5e27(\u6807\u51c6\u5e27 8 \u5b57\u8282)<\/li>\n
- 4.2 \u5e27\u7c7b\u578b\u901f\u67e5<\/li>\n
- 4.3 CAN FD \u65b0\u589e\u4f4d<\/li>\n
- 4.4 DLC \u6620\u5c04(CAN FD)<\/li>\n<\/ul>\n<\/li>\n
- \u4e94\u3001\u9519\u8bef\u8ba1\u6570\u5668\u4e0e\u72b6\u6001\u901f\u67e5<\/li>\n
- \n
\n- 5.1 \u9519\u8bef\u8ba1\u6570\u89c4\u5219<\/li>\n
- 5.2 \u72b6\u6001\u8f6c\u79fb<\/li>\n
- 5.3 \u6062\u590d<\/li>\n
- 5.4 \u9519\u8bef\u7801(LEC)<\/li>\n<\/ul>\n<\/li>\n
- \u516d\u3001\u9ad8\u5c42\u534f\u8bae\u901f\u67e5<\/li>\n
- \n
\n- 6.1 CANopen ID \u901f\u67e5<\/li>\n
- 6.2 J1939 29bit ID \u7f16\u7801<\/li>\n
- 6.3 UDS \u670d\u52a1\u901f\u67e5<\/li>\n
- 6.4 UDS NRC(\u5426\u5b9a\u54cd\u5e94\u7801)<\/li>\n
- 6.5 ISO-TP \u5e27\u901f\u67e5<\/li>\n
- 6.6 \u8bca\u65ad ID \u901f\u67e5<\/li>\n<\/ul>\n<\/li>\n
- \u4e03\u3001\u529f\u80fd\u5b89\u5168\u5ba1\u67e5\u6e05\u5355<\/li>\n
- \n
\n- 7.1 \u7269\u7406\u5c42<\/li>\n
- 7.2 \u534f\u8bae\u5c42<\/li>\n
- 7.3 \u4f20\u8f93\u5c42<\/li>\n
- 7.4 \u6570\u636e\u5c42<\/li>\n
- 7.5 \u7cfb\u7edf\u5c42<\/li>\n
- 7.6 \u8f6f\u4ef6\u5c42<\/li>\n<\/ul>\n<\/li>\n
- \u516b\u3001\u5168\u7cfb\u5217\u8981\u70b9\u56de\u987e<\/li>\n
- \n
\n- 8.1 L1 \u786c\u4ef6\u57fa\u7840\u5c42(01-03)<\/li>\n
- 8.2 L2 \u534f\u8bae\u65f6\u5e8f\u5c42(04-07)<\/li>\n
- 8.3 L3 \u9a71\u52a8\u5b9e\u73b0\u5c42(08-11)<\/li>\n
- 8.4 L4 \u5e94\u7528\u5b9e\u6218\u5c42(12-14)<\/li>\n<\/ul>\n<\/li>\n
- \u4e5d\u3001CAN vs UART vs I2C vs SPI \u603b\u5bf9\u7167\u8868<\/li>\n
- \n
\n- 9.1 \u7269\u7406\u5c42<\/li>\n
- 9.2 \u534f\u8bae\u5c42<\/li>\n
- 9.3 \u5e94\u7528\u573a\u666f<\/li>\n
- 9.4 \u8c03\u8bd5<\/li>\n
- 9.5 \u9009\u578b\u51b3\u7b56\u6811<\/li>\n<\/ul>\n<\/li>\n
- \u5ef6\u4f38\u9605\u8bfb<\/li>\n
- \n
\n- CAN \u5168\u7cfb\u5217<\/li>\n
- \u5bf9\u7167\u5b66\u4e60<\/li>\n<\/ul>\n<\/li>\n
- \u53c2\u8003\u8d44\u6599<\/li>\n<\/ul>\n
\n\u4e00\u3001\u6545\u969c\u51b3\u7b56\u6811<\/h2>\n1.1 A \u7c7b:\u5b8c\u5168\u4e0d\u901a<\/h3>\nCAN \u5b8c\u5168\u4e0d\u901a
\n\u251c\u2500 A1 \u7269\u7406\u5c42
\n\u2502 \u251c\u2500 A1.1 \u7ec8\u7aef\u7535\u963b? \u2192 \u4e07\u7528\u8868\u6d4b CAN_H-CAN_L = 60\u03a9?
\n\u2502 \u2502 \u251c\u2500 \u5426 \u2192 \u52a0\/\u4fee\u7ec8\u7aef(\u53cc\u7aef120\u03a9)
\n\u2502 \u2502 \u2514\u2500 \u662f \u2192 \u7ee7\u7eed
\n\u2502 \u251c\u2500 A1.2 \u6536\u53d1\u5668? \u2192 \u793a\u6ce2\u5668\u770b CAN_H\/CAN_L \u6ce2\u5f62?
\n\u2502 \u2502 \u251c\u2500 \u65e0\u6ce2\u5f62 \u2192 \u6536\u53d1\u5668\u4f9b\u7535\/\u574f \u2192 \u6362
\n\u2502 \u2502 \u2514\u2500 \u6709\u6ce2\u5f62 \u2192 \u7ee7\u7eed
\n\u2502 \u2514\u2500 A1.3 \u63a5\u7ebf? \u2192 CAN_H\/CAN_L \u63a5\u53cd? \u4ea4\u53c9?
\n\u2502 \u2514\u2500 \u4fee\u6b63\u63a5\u7ebf
\n\u251c\u2500 A2 \u914d\u7f6e\u5c42
\n\u2502 \u251c\u2500 A2.1 \u65f6\u949f? \u2192 CAN \u65f6\u949f\u5f00? \u5f15\u811a\u590d\u7528?
\n\u2502 \u2502 \u2514\u2500 \u5f00\u65f6\u949f + \u914d\u5f15\u811a
\n\u2502 \u251c\u2500 A2.2 \u4f4d\u5b9a\u65f6? \u2192 \u6ce2\u7279\u7387\u5168\u7f51\u4e00\u81f4? \u91c7\u6837\u70b987.5%?
\n\u2502 \u2502 \u2514\u2500 \u7edf\u4e00\u4f4d\u5b9a\u65f6
\n\u2502 \u2514\u2500 A2.3 \u8fc7\u6ee4\u5668? \u2192 \u8fc7\u6ee4\u5668\u914d\u9519(\u5168\u5c4f\u853d)?
\n\u2502 \u2514\u2500 \u4fee\u6b63\u8fc7\u6ee4\u5668
\n\u2514\u2500 A3 \u8f6f\u4ef6\u5c42
\n \u251c\u2500 A3.1 \u9a71\u52a8\u521d\u59cb\u5316? \u2192 dmesg \u770b\u9519\u8bef?
\n \u2502 \u2514\u2500 \u67e5\u521d\u59cb\u5316\u4ee3\u7801
\n \u2514\u2500 A3.2 can0 up? \u2192 ip link show can0?
\n \u2514\u2500 ip link set can0 up<\/p>\n 1.2 B \u7c7b:\u5076\u53d1\u9519<\/h3>\nCAN \u5076\u53d1\u9519
\n\u251c\u2500 B1 \u4fe1\u53f7\u5b8c\u6574\u6027\u5c42
\n\u2502 \u251c\u2500 B1.1 \u7ec8\u7aef? \u2192 \u793a\u6ce2\u5668\u770b\u632f\u94c3?
\n\u2502 \u2502 \u2514\u2500 \u53cc\u7aef\u7ec8\u7aef + \u5206\u88c2\u7ec8\u7aef
\n\u2502 \u251c\u2500 B1.2 EMI? \u2192 \u9644\u8fd1\u5e72\u6270\u6e90(\u7535\u673a\/\u5f00\u5173\u7535\u6e90)?
\n\u2502 \u2502 \u2514\u2500 \u5171\u6a21\u627c\u6d41\u5708 + TVS + \u8fdc\u79bb
\n\u2502 \u2514\u2500 B1.3 stub? \u2192 stub \u592a\u957f?
\n\u2502 \u2514\u2500 \u7f29\u77ed stub(1M<0.3m)
\n\u251c\u2500 B2 \u8f6f\u4ef6\u5c42
\n\u2502 \u251c\u2500 B2.1 FIFO \u6ea2\u51fa? \u2192 \u63a5\u6536\u4e22\u5e27?
\n\u2502 \u2502 \u2514\u2500 \u63d0\u9ad8\u4f18\u5148\u7ea7\/DMA\/\u52a0\u6df1FIFO
\n\u2502 \u2514\u2500 B2.2 \u8d1f\u8f7d\u9ad8? \u2192 canbusload > 80%?
\n\u2502 \u2514\u2500 \u4f18\u5316ID\/\u9650\u9891\/CAN FD
\n\u2514\u2500 B3 \u65f6\u949f\u5c42
\n \u251c\u2500 B3.1 \u91c7\u6837\u70b9? \u2192 \u5168\u7f5187.5%?
\n \u2502 \u2514\u2500 \u7edf\u4e00
\n \u251c\u2500 B3.2 SJW? \u2192 \u957f\u5e27\u9519?
\n \u2502 \u2514\u2500 SJW=2
\n \u2514\u2500 B3.3 \u6676\u632f? \u2192 RC\u632f\u8361\u5668? \u6e29\u6f02?
\n \u2514\u2500 \u6362\u00b150ppm\u6676\u632f<\/p>\n 1.3 C \u7c7b:\u9519\u8bef\u72b6\u6001<\/h3>\nCAN \u9519\u8bef\u72b6\u6001
\n\u251c\u2500 C1 \u603b\u7ebf\u5173\u95ed(BUS-OFF)
\n\u2502 \u251c\u2500 C1.1 \u6ce2\u7279\u7387\u9519? \u2192 \u548c\u5168\u7f51\u4e0d\u4e00\u81f4?
\n\u2502 \u2502 \u2514\u2500 \u7edf\u4e00\u6ce2\u7279\u7387
\n\u2502 \u251c\u2500 C1.2 \u6536\u53d1\u5668\u574f? \u2192 \u6362
\n\u2502 \u251c\u2500 C1.3 EMI \u4e25\u91cd? \u2192 \u6297\u6270
\n\u2502 \u2514\u2500 C1.4 \u6062\u590d? \u2192 ABOM + \u6b21\u6570\u9650\u5236 + \u5b89\u5168\u72b6\u6001
\n\u251c\u2500 C2 \u9519\u8bef\u88ab\u52a8(ERROR-PASSIVE)
\n\u2502 \u251c\u2500 C2.1 \u4f4d\u5b9a\u65f6? \u2192 \u91c7\u6837\u70b9?
\n\u2502 \u251c\u2500 C2.2 EMI? \u2192 \u6297\u6270
\n\u2502 \u2514\u2500 C2.3 \u76ee\u6807\u8282\u70b9? \u2192 ACK \u9519?
\n\u2514\u2500 C3 ACK \u9519\u8bef
\n \u251c\u2500 C3.1 \u5355\u8282\u70b9? \u2192 Loopback \u6d4b\u8bd5
\n \u251c\u2500 C3.2 \u76ee\u6807\u6545\u969c? \u2192 \u67e5\u76ee\u6807\u8282\u70b9
\n \u2514\u2500 C3.3 \u6ce2\u7279\u7387? \u2192 \u7edf\u4e00<\/p>\n 1.4 D \u7c7b:\u6570\u636e\u9519<\/h3>\nCAN \u6570\u636e\u9519
\n\u251c\u2500 D1 ID \u89e3\u6790\u9519
\n\u2502 \u251c\u2500 D1.1 \u6807\u51c6\/\u6269\u5c55? \u2192 IDE \u4f4d\u8bc6\u522b
\n\u2502 \u2514\u2500 D1.2 \u5b57\u8282\u5e8f? \u2192 MSB \u5148
\n\u251c\u2500 D2 \u957f\u5ea6\u9519
\n\u2502 \u251c\u2500 D2.1 DLC>8? \u2192 \u7ecf\u5178CAN\u89c6\u4e3a8
\n\u2502 \u2514\u2500 D2.2 FD DLC? \u2192 9-15\u6620\u5c0412\/16\/…\/64
\n\u2514\u2500 D3 \u9ad8\u5c42\u534f\u8bae\u9519
\n \u251c\u2500 D3.1 J1939? \u2192 PGN\u89e3\u6790+SPN\u6362\u7b97
\n \u251c\u2500 D3.2 UDS? \u2192 NRC\u5206\u6790
\n \u2514\u2500 D3.3 ISO-TP? \u2192 \u5206\u5305\u91cd\u7ec4<\/p>\n 1.5 E \u7c7b:Linux \u6846\u67b6<\/h3>\nLinux CAN \u95ee\u9898
\n\u251c\u2500 E1 can0 \u4e0d up
\n\u2502 \u251c\u2500 E1.1 \u8bbe\u5907\u6811? \u2192 CAN\u8282\u70b9\u914d\u7f6e?
\n\u2502 \u251c\u2500 E1.2 \u9a71\u52a8? \u2192 dmesg \u770b\u52a0\u8f7d?
\n\u2502 \u2514\u2500 E1.3 \u65f6\u949f\/\u5f15\u811a? \u2192 \u8bbe\u5907\u6811\u65f6\u949f
\n\u251c\u2500 E2 candump \u65e0\u8f93\u51fa
\n\u2502 \u251c\u2500 E2.1 can0 down? \u2192 ip link set up
\n\u2502 \u251c\u2500 E2.2 \u7269\u7406\u5c42? \u2192 \u7ec8\u7aef\/\u6536\u53d1\u5668
\n\u2502 \u2514\u2500 E2.3 \u8fc7\u6ee4\u5668? \u2192 setsockopt
\n\u2514\u2500 E3 \u9519\u8bef\u5e27
\n \u251c\u2500 E3.1 ERR_FILTER? \u2192 \u4f7f\u80fd\u9519\u8bef\u5e27\u63a5\u6536
\n \u2514\u2500 E3.2 \u72b6\u6001? \u2192 ip -s \u770b\u7edf\u8ba1<\/p>\n
\n\u4e8c\u3001\u5e38\u89c1\u6545\u969c\u901f\u67e5\u8868<\/h2>\n\n#\u6545\u969c\u73b0\u8c61\u539f\u56e0\u89e3\u51b3<\/tr>\n \n\n| 1<\/td>\n | \u5b8c\u5168\u4e0d\u901a<\/td>\n | candump \u65e0\u5e27<\/td>\n | \u7ec8\u7aef\u7f3a\/\u6536\u53d1\u5668\/\u4f4d\u5b9a\u65f6<\/td>\n | \u4e07\u7528\u8868+\u793a\u6ce2\u5668<\/td>\n<\/tr>\n | \n| 2<\/td>\n | \u7ec8\u7aef\u7f3a<\/td>\n | \u632f\u94c3,\u5076\u53d1\u9519<\/td>\n | \u5355\u7aef\/\u65e0\u7ec8\u7aef<\/td>\n | \u53cc\u7aef120\u03a9<\/td>\n<\/tr>\n | \n| 3<\/td>\n | \u591a\u7ec8\u7aef<\/td>\n | \u9a71\u52a8\u4e0d\u8db3<\/td>\n | \u6bcf\u8282\u70b9\u90fd\u52a0<\/td>\n | \u53ea\u4e24\u7aef\u52a0<\/td>\n<\/tr>\n | \n| 4<\/td>\n | \u6ce2\u7279\u7387\u9519<\/td>\n | \u603b\u7ebf\u5173\u95ed<\/td>\n | \u548c\u5168\u7f51\u4e0d\u4e00\u81f4<\/td>\n | \u7edf\u4e00\u6ce2\u7279\u7387<\/td>\n<\/tr>\n | \n| 5<\/td>\n | \u91c7\u6837\u70b9\u9519<\/td>\n | CRC \u9519<\/td>\n | \u4e0d\u4e00\u81f4<\/td>\n | \u7edf\u4e0087.5%<\/td>\n<\/tr>\n | \n| 6<\/td>\n | \u65f6\u949f\u504f\u5dee\u5927<\/td>\n | \u957f\u5e27\u9519<\/td>\n | RC\/\u6e29\u6f02<\/td>\n | \u6362\u6676\u632f\u00b150ppm<\/td>\n<\/tr>\n | \n| 7<\/td>\n | SJW \u5c0f<\/td>\n | \u957f\u5e27\u5076\u53d1\u9519<\/td>\n | \u8865\u507f\u4e0d\u8db3<\/td>\n | SJW=2<\/td>\n<\/tr>\n | \n| 8<\/td>\n | ACK \u9519<\/td>\n | \u5355\u8282\u70b9\/\u76ee\u6807\u6545\u969c<\/td>\n | \u65e0\u5e94\u7b54<\/td>\n | Loopback\/\u67e5\u76ee\u6807<\/td>\n<\/tr>\n | \n| 9<\/td>\n | CRC \u9519<\/td>\n | \u9519\u8bef\u5e27<\/td>\n | \u91c7\u6837\u70b9\/EMI<\/td>\n | \u7edf\u4e00+\u6297\u6270<\/td>\n<\/tr>\n | \n| 10<\/td>\n | \u4f4d\u586b\u5145\u9519<\/td>\n | EMI<\/td>\n | \u4f4d\u7ffb\u8f6c<\/td>\n | \u6297\u6270<\/td>\n<\/tr>\n | \n| 11<\/td>\n | \u683c\u5f0f\u9519<\/td>\n | EOF\u5e72\u6270<\/td>\n | EMI<\/td>\n | \u6297\u6270<\/td>\n<\/tr>\n | \n| 12<\/td>\n | \u603b\u7ebf\u5173\u95ed<\/td>\n | TEC\u2265128<\/td>\n | \u6301\u7eed\u9519<\/td>\n | \u67e5\u6839\u56e0+ABOM<\/td>\n<\/tr>\n | \n| 13<\/td>\n | \u9519\u8bef\u88ab\u52a8<\/td>\n | TEC\/REC\u226596<\/td>\n | \u5076\u53d1\u9519<\/td>\n | \u6392\u67e5<\/td>\n<\/tr>\n | \n| 14<\/td>\n | FIFO \u6ea2\u51fa<\/td>\n | \u4e22\u5e27<\/td>\n | CPU\u6162<\/td>\n | DMA\/\u9ad8\u4f18\u5148\u7ea7<\/td>\n<\/tr>\n | \n| 15<\/td>\n | \u8d1f\u8f7d\u9ad8<\/td>\n | \u5076\u53d1\u9519<\/td>\n | \u5e27\u592a\u591a<\/td>\n | \u4f18\u5316\/\u9650\u9891\/FD<\/td>\n<\/tr>\n | \n| 16<\/td>\n | stub \u957f<\/td>\n | \u9ad8\u901f\u9519<\/td>\n | \u53cd\u5c04<\/td>\n | \u7f29\u77ed(1M<0.3m)<\/td>\n<\/tr>\n | \n| 17<\/td>\n | FD \u6536\u53d1\u5668\u6162<\/td>\n | \u6570\u636e\u6bb5CRC\u9519<\/td>\n | tr\u957f<\/td>\n | \u6362FD\u6536\u53d1\u5668<\/td>\n<\/tr>\n | \n| 18<\/td>\n | \u8fc7\u6ee4\u5668\u9519<\/td>\n | \u6536\u4e0d\u5230\/\u6536\u5230\u591a\u4f59<\/td>\n | \u914d\u7f6e\u9519<\/td>\n | \u6838\u5bf9ID\/MASK<\/td>\n<\/tr>\n | \n| 19<\/td>\n | \u8282\u70b9\u6570\u591a<\/td>\n | \u8fb9\u6cbf\u7f13<\/td>\n | \u7535\u5bb9\u5927<\/td>\n | \u964d\u901f\/\u5206\u6bb5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u4e09\u3001\u4f4d\u5b9a\u65f6\u901f\u67e5<\/h2>\n3.1 \u4f4d\u5b9a\u65f6\u5e38\u7528\u914d\u7f6e(f_CAN=48MHz)<\/h3>\n\n\u901f\u7387BRPNBTTSEG1TSEG2SJWSP<\/tr>\n \n\n| 1M<\/td>\n | 3<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 500k<\/td>\n | 6<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 250k<\/td>\n | 12<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 125k<\/td>\n | 24<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| 50k<\/td>\n | 60<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n3.2 CAN FD \u53cc\u4f4d\u5b9a\u65f6(f_CAN=80MHz)<\/h3>\n\n\u6bb5\u901f\u7387BRPNBTTSEG1TSEG2SJWSP<\/tr>\n \n\n| \u4ef2\u88c1\u6bb5(NBTP)<\/td>\n | 1M<\/td>\n | 5<\/td>\n | 16<\/td>\n | 13<\/td>\n | 2<\/td>\n | 2<\/td>\n | 87.5%<\/td>\n<\/tr>\n | \n| \u6570\u636e\u6bb5(DBTP)<\/td>\n | 5M<\/td>\n | 2<\/td>\n | 8<\/td>\n | 5<\/td>\n | 2<\/td>\n | 1<\/td>\n | 75%<\/td>\n<\/tr>\n | \n| \u6570\u636e\u6bb5(DBTP)<\/td>\n | 8M<\/td>\n | 1<\/td>\n | 10<\/td>\n | 7<\/td>\n | 2<\/td>\n | 1<\/td>\n | 80%<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n3.3 BTR \u914d\u7f6e\u516c\u5f0f<\/h3>\n1. NBT = f_CAN \/ (BRP \u00d7 bit_rate), \u9009 BRP \u8ba9 NBT=16
\n2. TSEG1 = NBT \u00d7 SP – 1 = 16 \u00d7 0.875 – 1 = 13
\n3. TSEG2 = NBT – 1 – TSEG1 = 16 – 1 – 13 = 2
\n4. SJW = 2(\u901a\u5e38,1~4)
\n5. BTR = (SJW-1)<<24 | (TSEG2-1)<<16 | (TSEG1-1)<<8 | (BRP-1)<\/p>\n 3.4 \u901f\u7387-\u8ddd\u79bb-\u7ea6\u675f\u901f\u67e5<\/h3>\n\n\u901f\u7387\u603b\u7ebf\u957fstub\u8282\u70b9\u7535\u5bb9<\/tr>\n \n\n| 1M<\/td>\n | 40m<\/td>\n | 0.3m<\/td>\n | 30<\/td>\n | 100pF<\/td>\n<\/tr>\n | \n| 500k<\/td>\n | 100m<\/td>\n | 0.6m<\/td>\n | 30<\/td>\n | 100pF<\/td>\n<\/tr>\n | \n| 250k<\/td>\n | 250m<\/td>\n | 1.2m<\/td>\n | 30<\/td>\n | 200pF<\/td>\n<\/tr>\n | \n| 125k<\/td>\n | 500m<\/td>\n | 2.4m<\/td>\n | 30<\/td>\n | 500pF<\/td>\n<\/tr>\n | \n| 50k<\/td>\n | 1km<\/td>\n | 6m<\/td>\n | 30<\/td>\n | 1nF<\/td>\n<\/tr>\n | \n| FD 5M<\/td>\n | <10m<\/td>\n | 0.15m<\/td>\n | <10<\/td>\n | 100pF<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u56db\u3001\u5e27\u683c\u5f0f\u901f\u67e5<\/h2>\n4.1 \u6570\u636e\u5e27(\u6807\u51c6\u5e27 8 \u5b57\u8282)<\/h3>\n\n\u6bb5\u4f4d\u6570\u5185\u5bb9<\/tr>\n \n\n| SOF<\/td>\n | 1<\/td>\n | \u663e\u6027(\u5e27\u8d77\u59cb)<\/td>\n<\/tr>\n | \n| ID<\/td>\n | 11<\/td>\n | \u6807\u8bc6\u7b26(\u4f18\u5148\u7ea7)<\/td>\n<\/tr>\n | \n| RTR<\/td>\n | 1<\/td>\n | 0=\u6570\u636e,1=\u8fdc\u7a0b<\/td>\n<\/tr>\n | \n| IDE<\/td>\n | 1<\/td>\n | 0=\u6807\u51c6,1=\u6269\u5c55<\/td>\n<\/tr>\n | \n| r0<\/td>\n | 1<\/td>\n | \u4fdd\u7559<\/td>\n<\/tr>\n | \n| DLC<\/td>\n | 4<\/td>\n | \u6570\u636e\u957f\u5ea6(0~8\u7ecf\u5178)<\/td>\n<\/tr>\n | \n| \u6570\u636e<\/td>\n | 0~64<\/td>\n | \u6570\u636e<\/td>\n<\/tr>\n | \n| CRC<\/td>\n | 15\/17\/21<\/td>\n | \u6821\u9a8c<\/td>\n<\/tr>\n | \n| CRC DEL<\/td>\n | 1<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n | \n| ACK<\/td>\n | 1<\/td>\n | \u663e\u6027(\u63a5\u6536\u65b9)<\/td>\n<\/tr>\n | \n| ACK DEL<\/td>\n | 1<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n | \n| EOF<\/td>\n | 7<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n | \n| IFS<\/td>\n | 3<\/td>\n | \u9690\u6027<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n4.2 \u5e27\u7c7b\u578b\u901f\u67e5<\/h3>\n\n\u5e27RTRIDE\u6570\u636e\u7528\u9014<\/tr>\n \n\n| \u6807\u51c6\u6570\u636e<\/td>\n | 0<\/td>\n | 0<\/td>\n | 0~8B<\/td>\n | \u4e3b\u7528<\/td>\n<\/tr>\n | \n| \u6807\u51c6\u8fdc\u7a0b<\/td>\n | 1<\/td>\n | 0<\/td>\n | \u65e0<\/td>\n | \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| \u6269\u5c55\u6570\u636e<\/td>\n | 0<\/td>\n | 1<\/td>\n | 0~8B<\/td>\n | J1939<\/td>\n<\/tr>\n | \n| \u6269\u5c55\u8fdc\u7a0b<\/td>\n | 1<\/td>\n | 1<\/td>\n | \u65e0<\/td>\n | \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| FD \u6570\u636e<\/td>\n | 0<\/td>\n | EDL=1<\/td>\n | 0~64B<\/td>\n | \u9ad8\u901f\u5927\u5757<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u5e27<\/td>\n | –<\/td>\n | –<\/td>\n | 6\u663e\u6027\/\u9690\u6027+8\u9690\u6027<\/td>\n | \u62a5\u9519<\/td>\n<\/tr>\n | \n| \u8fc7\u8f7d\u5e27<\/td>\n | –<\/td>\n | –<\/td>\n | 6\u663e\u6027+7\u9690\u6027<\/td>\n | \u6d41\u63a7<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n4.3 CAN FD \u65b0\u589e\u4f4d<\/h3>\n\n\u4f4d\u542b\u4e49<\/tr>\n \n\n| EDL<\/td>\n | FD\u5e27\u6807\u8bc6(\u66ff\u4ee3\u7ecf\u5178r0)<\/td>\n<\/tr>\n | \n| BRS<\/td>\n | \u5207\u901f(1=\u6570\u636e\u6bb5\u9ad8\u901f)<\/td>\n<\/tr>\n | \n| ESI<\/td>\n | \u9519\u8bef\u72b6\u6001(1=\u88ab\u52a8\u9519\u8bef)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n4.4 DLC \u6620\u5c04(CAN FD)<\/h3>\n\nDLC\u7ecf\u5178FD<\/tr>\n \n\n| 0-8<\/td>\n | 0-8B<\/td>\n | 0-8B<\/td>\n<\/tr>\n | \n| 9<\/td>\n | –<\/td>\n | 12B<\/td>\n<\/tr>\n | \n| 10<\/td>\n | –<\/td>\n | 16B<\/td>\n<\/tr>\n | \n| 11<\/td>\n | –<\/td>\n | 20B<\/td>\n<\/tr>\n | \n| 12<\/td>\n | –<\/td>\n | 24B<\/td>\n<\/tr>\n | \n| 13<\/td>\n | –<\/td>\n | 32B<\/td>\n<\/tr>\n | \n| 14<\/td>\n | –<\/td>\n | 48B<\/td>\n<\/tr>\n | \n| 15<\/td>\n | –<\/td>\n | 64B<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u4e94\u3001\u9519\u8bef\u8ba1\u6570\u5668\u4e0e\u72b6\u6001\u901f\u67e5<\/h2>\n5.1 \u9519\u8bef\u8ba1\u6570\u89c4\u5219<\/h3>\n\n\u4e8b\u4ef6TEC\/REC \u53d8\u5316<\/tr>\n \n\n| \u53d1\u9001\u9519<\/td>\n | TEC +8<\/td>\n<\/tr>\n | \n| \u53d1\u9001\u6210\u529f<\/td>\n | TEC -1<\/td>\n<\/tr>\n | \n| \u63a5\u6536\u9519<\/td>\n | REC +8<\/td>\n<\/tr>\n | \n| \u63a5\u6536\u6210\u529f<\/td>\n | REC -1<\/td>\n<\/tr>\n | \n| \u4e3b\u52a8\u9519\u8bef\u6807\u5fd7\u671f\u95f4\u68c0\u6d4b\u663e\u6027<\/td>\n | +1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n5.2 \u72b6\u6001\u8f6c\u79fb<\/h3>\n\n\u72b6\u6001TEC\/REC\u9519\u8bef\u6807\u5fd7<\/tr>\n \n\n| \u4e3b\u52a8\u9519\u8bef<\/td>\n | <96<\/td>\n | 6\u663e\u6027(\u7834\u574f)<\/td>\n<\/tr>\n | \n| \u9519\u8bef\u8b66\u544a<\/td>\n | \u226596<\/td>\n | –<\/td>\n<\/tr>\n | \n| \u88ab\u52a8\u9519\u8bef<\/td>\n | 96~127<\/td>\n | 6\u9690\u6027(\u4e0d\u7834\u574f)<\/td>\n<\/tr>\n | \n| \u603b\u7ebf\u5173\u95ed<\/td>\n | TEC\u2265128<\/td>\n | \u4e0d\u901a\u4fe1<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n5.3 \u6062\u590d<\/h3>\n\n\u6062\u590d\u673a\u5236<\/tr>\n \n\n| \u4e3b\u52a8\u2192\u88ab\u52a8\u56de\u4e3b\u52a8<\/td>\n | TEC\/REC<96<\/td>\n<\/tr>\n | \n| \u603b\u7ebf\u5173\u95ed\u2192\u4e3b\u52a8<\/td>\n | 128\u00d711=1408\u9690\u6027(\u81ea\u52a8)\/ \u8f6f\u4ef6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n5.4 \u9519\u8bef\u7801(LEC)<\/h3>\n\nLEC\u9519\u8bef<\/tr>\n \n\n| 0<\/td>\n | \u65e0\u9519<\/td>\n<\/tr>\n | \n| 1<\/td>\n | \u4f4d\u586b\u5145\u9519<\/td>\n<\/tr>\n | \n| 2<\/td>\n | \u683c\u5f0f\u9519<\/td>\n<\/tr>\n | \n| 3<\/td>\n | ACK \u9519<\/td>\n<\/tr>\n | \n| 4<\/td>\n | \u4f4d1\u9519(\u9690\u6027\u4f4d\u53d1\u663e\u6027\u8bfb)<\/td>\n<\/tr>\n | \n| 5<\/td>\n | \u4f4d0\u9519(\u663e\u6027\u4f4d\u53d1\u9690\u6027\u8bfb)<\/td>\n<\/tr>\n | \n| 6<\/td>\n | CRC \u9519<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
\n\u516d\u3001\u9ad8\u5c42\u534f\u8bae\u901f\u67e5<\/h2>\n6.1 CANopen ID \u901f\u67e5<\/h3>\n\n\u5bf9\u8c61ID\u7528\u9014<\/tr>\n \n\n| NMT<\/td>\n | 0x000<\/td>\n | \u7f51\u7edc\u7ba1\u7406<\/td>\n<\/tr>\n | \n| \u7d27\u6025<\/td>\n | 0x080<\/td>\n | \u7d27\u6025\u62a5\u6587<\/td>\n<\/tr>\n | \n| PDO<\/td>\n | 0x181~0x57F<\/td>\n | \u8fc7\u7a0b\u6570\u636e(\u5b9e\u65f6)<\/td>\n<\/tr>\n | \n| SDO<\/td>\n | 0x581~0x67F<\/td>\n | \u670d\u52a1\u6570\u636e(\u914d\u7f6e)<\/td>\n<\/tr>\n | \n| \u5fc3\u8df3<\/td>\n | 0x700+<\/td>\n | \u8282\u70b9\u5fc3\u8df3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.2 J1939 29bit ID \u7f16\u7801<\/h3>\n\u4f18\u5148\u7ea7(3) | \u4fdd\u7559(1) | \u6570\u636e\u9875(1) | PF(8) | PS(8) | \u6e90\u5730\u5740(8)<\/p>\n \nPGN\u53c2\u6570<\/tr>\n \n\n| 61444<\/td>\n | EEC1 \u53d1\u52a8\u673a(\u8f6c\u901f0.125rpm\/bit)<\/td>\n<\/tr>\n | \n| 65262<\/td>\n | \u53d1\u52a8\u673a\u6e29\u5ea6(\u6c34\u6e29)<\/td>\n<\/tr>\n | \n| 65263<\/td>\n | \u53d1\u52a8\u673a\u4eea\u8868(\u6cb9\u538b)<\/td>\n<\/tr>\n | \n| 59904<\/td>\n | \u8bf7\u6c42<\/td>\n<\/tr>\n | \n| 60416<\/td>\n | \u5e94\u7b54<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.3 UDS \u670d\u52a1\u901f\u67e5<\/h3>\n\nSID\u670d\u52a1\u8bf7\u6c42\u6b63\u54cd\u5e94<\/tr>\n \n\n| 0x10<\/td>\n | \u4f1a\u8bdd\u63a7\u5236<\/td>\n | 10 03<\/td>\n | 50 03<\/td>\n<\/tr>\n | \n| 0x11<\/td>\n | ECU \u590d\u4f4d<\/td>\n | 11 01<\/td>\n | 51 01<\/td>\n<\/tr>\n | \n| 0x22<\/td>\n | \u8bfb\u6570\u636e<\/td>\n | 22 F1 90<\/td>\n | 62 F1 90 data<\/td>\n<\/tr>\n | \n| 0x27<\/td>\n | \u5b89\u5168\u8bbf\u95ee<\/td>\n | 27 01\/02 key<\/td>\n | 67 01 seed\/67 02<\/td>\n<\/tr>\n | \n| 0x2E<\/td>\n | \u5199\u6570\u636e<\/td>\n | 2E F1 90 data<\/td>\n | 6E F1 90<\/td>\n<\/tr>\n | \n| 0x31<\/td>\n | \u4f8b\u7a0b\u63a7\u5236<\/td>\n | 31 01 FF 00<\/td>\n | 71 01 FF 00<\/td>\n<\/tr>\n | \n| 0x34<\/td>\n | \u8bf7\u6c42\u4e0b\u8f7d<\/td>\n | 34<\/td>\n | 74<\/td>\n<\/tr>\n | \n| 0x36<\/td>\n | \u4f20\u8f93\u6570\u636e<\/td>\n | 36<\/td>\n | 76<\/td>\n<\/tr>\n | \n| 0x37<\/td>\n | \u9000\u51fa\u4f20\u8f93<\/td>\n | 37<\/td>\n | 77<\/td>\n<\/tr>\n | \n| 0x3E<\/td>\n | \u4fdd\u6d3b<\/td>\n | 3E 00<\/td>\n | 7E 00<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.4 UDS NRC(\u5426\u5b9a\u54cd\u5e94\u7801)<\/h3>\n\nNRC\u542b\u4e49<\/tr>\n \n\n| 0x13<\/td>\n | \u683c\u5f0f\u9519<\/td>\n<\/tr>\n | \n| 0x22<\/td>\n | \u6761\u4ef6\u4e0d\u6ee1\u8db3<\/td>\n<\/tr>\n | \n| 0x24<\/td>\n | \u8bf7\u6c42\u5e8f\u5217\u9519<\/td>\n<\/tr>\n | \n| 0x31<\/td>\n | \u8d85\u8303\u56f4<\/td>\n<\/tr>\n | \n| 0x33<\/td>\n | \u5b89\u5168\u62d2\u7edd(\u672a\u89e3\u9501)<\/td>\n<\/tr>\n | \n| 0x78<\/td>\n | \u54cd\u5e94\u5f85\u5b9a(\u5fd9)<\/td>\n<\/tr>\n | \n| 0x7E<\/td>\n | \u5b50\u529f\u80fd\u4e0d\u652f\u6301<\/td>\n<\/tr>\n | \n| 0x7F<\/td>\n | \u670d\u52a1\u4e0d\u652f\u6301<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n6.5 ISO-TP \u5e27\u901f\u67e5<\/h3>\n\n\u7c7b\u578bPCI\u7528\u9014<\/tr>\n \n\n| SF<\/td>\n | 0x0N<\/td>\n | \u22647B \u5355\u5e27<\/td>\n<\/tr>\n | \n| FF<\/td>\n | 0x1x<\/td>\n | \u591a\u5e27\u9996\u5e27(\u603b\u957f+6B)<\/td>\n<\/tr>\n | \n| CF<\/td>\n | 0x2x<\/td>\n | \u7eed\u5e27(\u5e8f\u53f7+7B)<\/td>\n<\/tr>\n | \n| FC<\/td>\n | 0x3x<\/td>\n | \u6d41\u63a7(FS\/BS\/STmin)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | |