CAN 鎶鏈瑕佸強涓浜涘熀鏈煡璇嗕粙缁-鐜板満鎬荤嚎-閰峰痉缃 - CoDeSys杞欢鏁欑▼涓嬭浇,CoDeSys宸ユ帶璧勮闂ㄦ埛 锘
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CAN 鎶鏈瑕佸強涓浜涘熀鏈煡璇嗕粙缁

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  • TA鐨勬瘡鏃ュ績鎯
    鎿︽睏
    2019-8-13 14:13

    • 绛惧埌澶╂暟: 32 澶

    [LV.5]甯镐綇灞呮皯I
    鍙戣〃浜 2013-8-15 16:12:43 | 鏄剧ず鍏ㄩ儴妤煎眰 |闃呰妯″紡
    鈻 CAN鎰忎负Controller Area Network锛屾帶鍒跺尯鍩熺綉缁溿傚畠鏄竴绉嶇壒鍒傚悎浜庣粍寤轰簰杩炵殑璁惧缃戠粶绯荤粺鎴栧瓙绯荤粺銆
    鈻 CAN鐨勫嚭鐜板緱鐩婁簬娆ф床鐨勬苯杞﹀埗閫犲巶鍟嗭紝鏈鍒濈殑寮鍙戦渶姹傛潵鑷狟MW涓嶮ercedes姹借溅鍒堕犲晢锛屽簲鐢ㄤ簬姹借溅鍐呴儴鐨勯氳绯荤粺锛岀敤浠ュ噺灏戦厤绾匡紝琛旀帴鍚勪釜鍒嗗竷寮忔帶鍒跺櫒銆侰AN鏈鍒濈殑鍗忚鐢盉osch鍏徃鎵寮鍙戯紝鍏锋湁蹇熷搷搴斿拰楂樺彲闈犳э紝鑳芥弧瓒矨BS瑁呯疆鍜屽畨鍏ㄦ皵鍥婄瓑鐨勬帶鍒惰姹傦紝鎵浠ュ緱鍒颁簡杩呴熺殑鎺ㄥ箍鍙婂簲鐢紝杩欐垚涓篊AN鑺墖浠锋牸鐨勯檷浣庡拰鍏舵ц兘鐨勬彁楂樼殑鏈澶у姩鍔涖侱eviceNet搴曞眰浠AN涓哄熀纭锛屽洜姝わ紝DeviceNet鎵浣跨敤鐨凜AN鑺墖閫氬父鏄叾瀹冪綉缁滄墍浣跨敤鑺墖浠锋牸鐨勪簲鍒嗕箣涓鍒板崄鍒嗕箣涓銆
    鈻 涓涓吀鍨嬬殑CAN搴旂敤浜庢苯杞︽帶鍒剁殑渚嬪瓙濡備笅鎵绀猴細
    index_can.gif

    鈻 CAN鐨勫巻鍙蹭笌鍙戝睍
    1983: Start of the Bosch internal project to develop an in-vehicle network1986: Official introduction of CAN protocol

    1987: First CAN controller chips from Intel and Philips Semiconductors      
    1991: Bosch鈥檚 CAN specification 2.0 published      
    1991: CAN Kingdom CAN-based higher-layer protocol introduced by Kvaser      
    1992: CAN in Automation (CiA) international users and manufacturers group established      
    1992: CAN Application Layer (CAL) protocol published by CiA      
    1992: First cars from Mercedes-Benz used CAN network      
    1993: ISO 11898 standard published      
    1994: 1st international CAN Conference (iCC) organized by CiA      
    1994: DeviceNet protocol introduction by Allen-Bradley      
    1995: ISO 11898 amendment (extended frame format) published      
    1995: CANopen protocol published by CiA      
    2000: Development of the time-triggered communication protocol for CAN (TTCAN)      

    鈻 CAN鐨勬苯杞︾敤鎴蜂笌寮鍙戝晢      
    BMW瀹濋┈Mercedes姊呰禌寰锋柉Jaguar Cars缇庢床铏嶳over GroupRolls-Royce缃楀皵鏂綏渚濇柉Saab钀ㄥ崥Volvo娌冨皵娌傾udi/VW濂ヨ开/澶т紬鍙﹀杩樻湁涓浜涙硶鍥斤紝缇庡浗锛屾棩鏈殑姹借溅鍒堕犲晢锛屽湪浠栦滑鐨勯珮妗ｈ溅鍨嬩腑涔熶娇鐢ㄤ簡CAN BUS锛屽鏃ヤ骇锛屼赴鐢般
    ISO 11898鏍囧噯      
    鈻 CAN涓嶪SO涓冨眰妯″紡涔嬮棿鐨勫叧绯诲涓嬪浘鎵绀猴細
    index_iso.gif


    CAN浣跨敤浜嗕竷灞傛ā寮忎腑鐨勬渶涓嬮潰涓ゅ眰锛岃屾妸涓婂眰鐨勫崗璁暀缁欑敤鎴疯嚜宸辫繘琛屽畾涔夛紝杩欏彲浠ユ彁渚涗竴涓伒娲诲鍙樼殑鏁版嵁浼犺緭骞冲彴锛孌eviceNet灏辨槸杩欑搴旂敤涓竴涓緢鍏稿瀷鐨勪緥瀛愩      
    鈻 CAN鐨勫簲鐢ㄥ眰鍗忚CAN鍗忚鐨勭壒鎬э細   楂樹几缂╂х殑閰嶇疆锛   浣嶅厓褰㈠紡鐨勪徊瑁侊紙Bit wise Arbitration锛夛紱   鎶ユ枃浼樺厛鏉冿紙Prioritisation of messages锛夛紱   绯荤粺鑼冨洿鐨勬暟鎹繛璐э紙System wide data consistency锛夛紱   澶氳矾浼犺緭鎺ュ彈锛圡ulticast reception锛夛紱   閿欒妫娴嬩笌鍙戦侊紙Error detection and error signalling锛夛紱   鑷姩閲嶆柊鍙戦佹崯鍧忕殑鎶ユ枃锛圓utomatic retransmission of corrupted messages锛夛紱   鍖哄垎涓涓妭鐐规殏鏃舵т笌姘镐箙鎬х殑閿欒涓庤嚜寰嬫х殑涓柇鏈夌己闄风殑鑺傜偣銆      
    鈻 鍗忚璇存槑锛氱洰鍓嶇殑淇鐗堟槸2.0锛1993骞9鏈堝嚭鐗堬紝鍖呮嫭涓や釜閮ㄥ垎锛     PartA锛氭寚瀹11 bit鐨勭‘璁ゅ尯     PartB锛氭寚瀹29 bit鐨勭‘璁ゅ尯DeviceNet浣跨敤鍏禤artA锛屼笉浣跨敤PartB銆      
    CAN缁撴瀯      
    鈻 CAN鐨勫抚鏍煎紡濡備笅鍥炬墍绀猴紙濡傜湅涓嶆竻璇风偣鍑诲浘鐗囷級锛     

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    鈻 鐗╃悊淇″彿   鎬荤嚎鐢靛钩 0 = 鏄炬э紙dominant锛   鎬荤嚎鐢靛钩 1 = 闅愭э紙recessive锛   鎬荤嚎闂茬疆 = 闅愭э紙recessive锛   锛婃樉鎬х數骞冲皢瑕嗙洊闅愭х數骞冲涓嬩緥鎵绀猴細      
        锛1   锛2   锛3     鏈缁堟荤嚎鐢靛钩   
      0      0      0           0   
           0      0      1           0   
           0      1      0           0   
           1      1      1           1   
    蹇呴』鎵鏈夎妭鐐圭數骞充负1锛屾荤嚎鐢靛钩鎵嶄负1锛屽惁鍒1琚0瑕嗙洊銆   
    鈻 CAN瀹炵幇鐨勪俊鍙   
         浣跨敤闈炲睆钄界殑鍙岀粸绾匡紙Unshielded Twisted Pair,UTP锛夈   
    CAN_HIGH: 闅愭т负2.5V锛屾樉鎬т负3.5V   
         CAN_LOW锛 闅愭т负2.5V锛屾樉鎬т负1.5V銆   
    index_bit.gif
    鈻 闈為浂浣嶅鍘熺紪鐮侊紙NRZ锛   

    NRZ鍥犱负鍘绘帀浜嗘瘡浣嶉兘褰掗浂锛屾墍浠ュ噺灏戜簡鍙樻崲鐨勬鏁帮紝鍣煶淇″彿闅忎箣鍑忓皯锛屾鎶鏈篃浣緾AN鎵浣跨敤鐨勪綅鍏冧徊瑁佹満鍒舵垚涓哄彲鑳姐備絾NRZ缂栫爜瀛樺湪涓瀹氱殑缂洪櫡锛屽氨鏄笉瀹氭у悓姝ラ棶棰橈紙Non-determinant Synchronisation锛夛紝灏ゅ叾鍦ㄩ珮浼犺緭閫熺巼鏃朵細鍑洪敊锛岃岃В鍐崇殑鍔炴硶灏辨槸浣嶅厓濉厖鎶鏈紙Bit-Stuffing锛夈備綅鍏冨～鍏呮妧鏈湪姣忎簲涓繛缁殑鐩稿悓鐢靛钩涔嬪悗鎻掑叆涓涓綅鍏冪殑鍙嶇浉鐢靛钩銆   
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    鍦ㄦ暟鎹紶杈撴椂锛屽～鍏呬綅鐢辨敹鍙戝櫒锛圱ransceiver锛夎嚜鍔ㄥ姞涓婂彂閫侊紝骞跺湪鎺ユ敹鏃惰嚜鍔ㄥ幓闄ゃ      
    浠茶涓庨敊璇睛娴   



    鈻 CSMA/CD涓嶯BDA   
         CSMA/CD锛氬甫纰版挒妫娴嬬殑杞芥尝渚﹀惉澶氶噸璁块棶鏈哄埗锛屼富瑕佺敤浜庝互澶綉锛屽畠鐨勬満鍒舵槸濡傛灉鏈変袱涓妭鐐瑰悓鏃朵紶杈撴暟鎹紝鍒欎袱涓兘绛夊緟涓嶅悓鐨勬椂闂村悗鍐嶈繘琛屼紶閫侊紝浼氭氮璐逛竴瀹氱殑甯﹀鏃堕棿銆   
    NBDA锛氶潪鐮村潖鎬х殑浣嶅厓浠茶鏈哄埗锛屽叾鍘熺悊涓鸿妭鐐圭殑鏁版嵁鎸変竴瀹氱殑鏂瑰紡鏈変紭鍏堟潈锛圕AN鏄樉鎬т紭鍏堬級锛屽綋涓や釜鑺傜偣鍙戠敓鍐茬獊鏃讹紝浼樺厛鏉冮珮鐨勭户缁紶閫佹暟鎹紝鍚屾椂浼樺厛鏉冧綆鐨勮妭鐐瑰彇娑堝彂閫侊紝鍥犳涓嶄細娴垂甯﹀銆   

    鈻 浠茶鍘熺悊濡備笅鍥撅細   
    index_artr.gif


    鍥句腑涓変釜鑺傜偣鍚屾椂浼犻佹暟鎹紝浣嗗彧鏈夌涓涓妭鐐瑰彂閫佹垚鍔燂紝鍏跺畠鑺傜偣鍒嗗埆鍦ㄤ笉鍚岀殑浣嶄徊瑁佸け璐ヨ屽仠姝㈠彂閫併傛渶鍚庝竴琛屼负鎬荤嚎涓婂疄闄呯殑鐢靛钩淇″彿銆  



    鈻 濯掍粙璁块棶閫昏緫  


    涓涓妭鐐瑰湪鍙戦佷箣鍓嶏紝瑕佸厛绛夊緟鎬荤嚎绌洪棽锛屾墠鑳借繘琛屼紶杈撱  


    鈻 CAN鐨勫抚绫诲瀷  


      鏁版嵁甯э紙Data Frame锛       鐢ㄤ簬浼犺緭涓鑸殑鏁版嵁淇″彿锛  


      閿欒甯э紙Error Frame锛       涓诲姩閿欒甯э紙Error Active Frame锛       琚姩閿欒甯э紙Error Passive Frame锛       鑺傜偣绂荤嚎锛圔us Off锛  


    杩滅▼甯э紙Remote Frame锛       涓嶅惈鏈夋暟鎹尯锛孌eviceNet涓嶄娇鐢紱  


      瓒呰浇甯э紙Overload Frame锛  


    鈻 CAN鐨勯敊璇睛娴  


      浣嶉敊璇紙Bit Error锛夛紱  


      濉厖閿欒锛圫tuff Error锛夛紱  


    搴旂瓟閿欒锛圓ck Error锛夛紱
      鏍￠獙閿欒锛圕RC Error锛夛紱   

    鏅氶昏緫姒傝, 姒傝璁捐, 鎶鏈呬滑, 鎶鏈粙缁, 鍏堣繘鎶鏈
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