目录1. 概要 ................................................................................................................................................... 12. 使用注意事项..................................................................................................................................... 13. CAN 是什么？.................................................................................................................................... 23.1 CAN 的应用示例................................................................................................................................ 33.2 总线拓扑图 ........................................................................................................................................ 44. CAN 的特点 ....................................................................................................................................... 55. 错误 ................................................................................................................................................... 65.1 错误状态的种类 ................................................................................................................................. 65.2 错误计数值 ........................................................................................................................................ 86. CAN 协议的基本概念......................................................................................................................... 97. CAN 协议及标准规格....................................................................................................................... 127.1 ISO 标准化的 CAN 协议 .................................................................................................................. 127.2 ISO11898 和 ISO11519-2 的不同点................................................................................................ 137.3 CAN 和标准规格.............................................................................................................................. 178. CAN 协议......................................................................................................................................... 188.1 帧的种类 .......................................................................................................................................... 188.2 数据帧.............................................................................................................................................. 218.3 遥控帧.............................................................................................................................................. 288.4 错误帧.............................................................................................................................................. 308.5 过载帧.............................................................................................................................................. 318.6 帧间隔.............................................................................................................................................. 328.7 优先级的决定................................................................................................................................... 338.8 位填充.............................................................................................................................................. 368.9 错误的种类 ...................................................................................................................................... 378.10 错误帧的输出................................................................................................................................... 398.11 位时序.............................................................................................................................................. 408.12 取得同步的方法 ............................................................................................................................... 428.13 硬件同步 .......................................................................................................................................... 438.14 再同步.............................................................................................................................................. 448.15 调整同步的规则 ............................................................................................................................... 45
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