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蹇�閫熷紑濮�

搴旂敤灞傚叧娉ㄧ殑涓昏�佸唴瀹规槸濡備綍璇诲啓鏁版嵁锛屽�逛簬ISOBUS,璇诲啓鏁版嵁锛屽嵆鏄�濡備綍鎺у埗杞﹁締鍔ㄤ綔鍜岃幏鍙栬溅杈嗕俊鎭�銆�
ISOBUS鐨勫疄鐜拌�诲啓鏁版嵁鐨勬満鍒舵槸鈥滄秷鎭�鈥濄�備竴鍒囩殕涓烘秷鎭�锛坢essage锛夈�備竴鑸�鐨勶紝姣忎釜娑堟伅鐨勬牳蹇冧负涓�涓�鍙傛暟缁勶紙parameter group锛夛紝鍙傛暟缁勪富瑕佸垎涓哄嚑绫伙細鎸囦护绫汇�佹暟鎹�绫诲拰杈呭姪绫汇��
鎸囦护绫伙細鍙�浠ヨ��鎵ц�岋紝濡傛帶鍒跺紑鍏炽�佹帶鍒惰浆鍚戙��
鏁版嵁绫伙細鐢ㄦ潵璇诲彇鍜屽啓鍏ョ殑鍏抽敭鏁版嵁锛屽�備紶鎰熷櫒鍊硷紝缁勪欢ID绛夈��
杈呭姪绫伙細杈呭姪瀹屾垚璇锋眰鏁版嵁锛屽簲绛旀暟鎹�銆佸箍鎾�澹版槑銆佸垎鍖呬紶杈撶�＄悊绛夊姛鑳姐��
鍏蜂綋閫氳��鐨勭粏鑺傝�峰弬鐓у悗缁�绔犺妭鐨勪粙缁嶃��
娉�锛氭爣鍑嗘枃妗ｅ皢鍙傛暟缁勭殑绫诲瀷瀹氫箟浜�5绉嶏紙Command銆丷equest銆丅roadcast/Request銆丄cknowledgement鍜孏roup Function锛夈�傝繖閲屼负浜嗕究浜庣悊瑙ｅ垎涓�3绫汇��
鍗忚��鍏抽敭瑕佺礌瀹氫箟

PDU	protocol data unit	涓�涓�瀹屾暣鐨凜AN鏁版嵁甯�
PGN	Parameter group number	鐢盤DU涓�瀹氫箟鐨凞ataPage銆丗ormat鍜孲pecific鍏卞悓鍐冲畾鐨勶紝鐢ㄤ互纭�瀹氬叿浣搈essage 鐨勭�嶇被銆�
Message		鐢辩浉鍚孭GN缁勬垚鐨勪竴涓�鎴栧�氫釜CAN鏁版嵁甯�
Packet		缁勬垚multi-packet message 鐨勫崟涓狢AN鏁版嵁甯�
multi-packet message		褰撳崟涓狢AN鏁版嵁甯т笉鑳藉畬鏁翠紶杈撳畬Message鐨勫叏閮ㄦ暟鎹�鏃讹紝閲囩敤澶氫釜鍚�鐩稿悓PGN鐨凜AN鏁版嵁瀹屾垚鏁版嵁浼犺緭銆�
SA	Source Address	瀹氫箟娑堟伅浠庡摢閲屽彂閫�
DA	Destination Address	瀹氫箟娑堟伅鍙戦�佸埌鍝�閲�

姒傝堪

ISOBUS鍗忚��鏄�鍩轰簬CAN2.0B鍗忚��鐨勪竴涓�鎷撳睍銆傚抚缁撴瀯濡傛墍绀恒��

PDU缁撴瀯

PDU鐢变竷閮ㄥ垎缁勬垚PRIO锛孯eserved锛孌P锛孭F锛孭S锛孲A锛孌ata锛�
娑堟伅閫氳��

娑堟伅锛圡essage锛夋槸ISOBUS瀹氫箟鐨勪竴绉嶅湪CAN鏁版嵁甯у熀纭�涓婏紝鏇撮珮灞傜殑鏁版嵁閾捐矾灞傞�氳��鏁版嵁缁撴瀯銆傛秷鎭�鏀�鎸佷紶杈撻珮杈�1785锛�255鍖�*7瀛楄妭姣忓寘锛変釜瀛楄妭鐨勫簲鐢ㄧ▼搴忔暟鎹�銆�
鐢变簬CAN鏁版嵁甯ф瘡涓�甯ф渶澶т紶杈撶殑鏁版嵁閲忎负8涓�瀛楄妭锛岃繙杩滀笉鑳芥弧瓒虫秷鎭�瀹氫箟鐨勬渶澶т紶杈撳�归噺锛屾墍浠�ISOBUS鍗忚��浣跨敤澶氫釜CAN鏁版嵁甯у垎娆″彂閫佺殑鏂规硶锛岄�愭�ュ畬鎴愬叏閮ㄥ簲鐢ㄥ眰鏁版嵁鐨勪紶杈撱��
闇�瑕佺壒鍒�娉ㄦ剰鐨勬槸锛屽彂閫佹媶鍒嗙殑鏁版嵁鍖呯殑杩囩▼涓�锛屾湁鍙�鑳戒細鏈夊叾浠朓SOBUS璁惧�囧彂閫佺浉鍚岀殑娑堟伅甯э紝涓轰簡閬垮厤鏁版嵁甯ч伃鍒版彃鍏ラ�犳垚鏁版嵁鐮村潖锛屾帴鏀剁��蹇呴』瑕佽兘璇嗗埆涓嶅悓鍙戦�佺��鍙戦�佺殑Messsage鍖咃紝骞跺垎鍒�鍚堝苟鎴愭�ｇ‘鐨凪essage銆�
娑堟伅鐨勭被鍨�

娑堟伅绫诲瀷鏈�5澶х被

绫诲瀷	鑻辨枃鍚�	PGN
鎸囦护	Command
璇锋眰	Request	59904
骞挎挱/ 鍝嶅簲	Broadcast/Response
搴旂瓟	Acknowledge	59392	ACK鍜孨ACK
缁勫姛鑳�	Group Funtion

搴旂瓟绫绘秷鎭�

搴旂瓟绫绘秷鎭�鍒嗕负绉�鏋佸簲绛擜CK锛圥ositive Acknowledge锛夊拰娑堟瀬搴旂瓟NACK锛坣egative Acknowledge锛夈��
鍙傛暟缁�

ISOBUS 涓昏�侀�氳繃PDU涓�鐨凞P锛孭F鍜孭S杩�3涓�鍩熸潵瀹氫箟娑堟伅鐨勭被鍨嬶紝骞朵笖涓轰簡鏂逛究鎻忚堪锛屽張灏嗚繖涓変釜鍩熷悎绉颁负PGN銆�
ISOBUS瑙勫畾锛屾牴鎹甈F鐨勪笉鍚岋紝PS鐨勫惈涔夋湁2绉嶏紝

PF	PS
0~239	鐩�鏍囧湴鍧�
240~255	鎷撳睍鍙傛暟

鐢辨�わ紝褰揚F鍊间负0锝�239鏃讹紝绉颁箣涓篜DU1,鐢辨��PGN濡備笅瀹氫箟

PGN
鏈�楂樹綅		鏈�浣庝綅
DP	PF	0

褰揚F鍊间负240锝�255鏃讹紝姝ゆ椂鐨凱DU绉颁负PDU2锛孭GN濡備笅瀹氫箟

PGN
鏈�楂樹綅		鏈�浣庝綅
DP	PF	PS

浼犺緭鍗忚��鍔熻兘

澶ч噺鏁版嵁鍒嗗寘浼犺緭

褰撴湁澶ч噺鏁版嵁鏋勬垚鐨勬秷鎭�闇�瑕佷紶杈撶殑鏃跺�欙紝鏍囧噯鐨凜AN甯у凡缁忎笉鑳芥弧瓒充紶杈撻渶姹傘�侷SO11738瀹氫箟浜嗕竴绉嶅垎鍖呭彂閫佸ぇ閲忔暟鎹�鐨勬満鍒垛�斺�斿�氬寘娑堟伅锛坢ulti-packet message锛�.
姣忎釜鍖呯殑缁撴瀯濡備笅

	CAN 甯х殑鏁版嵁鍩�
瀛楄妭	byte1	byte2-byte8
鍐呭��	鍖呭簭鍙�	7涓�瀛楄妭鐨勬暟鎹�鍧�

鍖呭簭鍙蜂粠1寮�濮嬪埌255涓烘��锛岀敤鏉ユ爣璇嗗�氫釜鍖咃紝鏂逛究鎺ユ敹绔�鍚堝苟鍖呫�傚箍鎾�妯″紡鍙戦�佸寘锛屼袱鍖呬箣闂寸殑寤舵椂瑕佸湪50ms~200ms涔嬮棿銆傞潪骞挎挱妯″紡鍙戦�佸寘锛屼袱鍖呬箣闂寸殑鍙戦�佸欢鏃惰�佸皬浜�200ms銆傛瘡涓�鍖呯殑DLC鍊奸兘鍥哄畾  涓�8锛屽嵆浣挎墍闇�瑕佷紶杈撶殑鏁版嵁涓嶈冻8涓�锛屼篃搴斿皢鏈�鐢ㄥ埌鐨勬暟鎹�璁剧疆涓�0xFF銆�

杩炴帴绠＄悊

鍒濆�嬪寲杩炴帴

璇锋眰绔�鍙戦�丷equest to Send 锛圱P.CM_RTS锛夋秷鎭�锛屾�ゆ秷鎭�涓�鍖呭惈浜嗘帴涓嬫潵浼犺緭鏁版嵁鐨勬�诲ぇ灏忋�傜洰鏍囨帴鍙楄繛鎺ヨ�锋眰闇�瑕佸洖搴擟lear to Send(TP.CM_CTS) 娑堟伅锛岀洰鏍囪嫢涓嶆帴鍙楄繛鎺ヨ�锋眰闇�瑕佸洖搴擟onnection Abort(TP.CM_CA)娑堟伅銆�
浼犺緭鏁版嵁

璇锋眰浼犺緭鏁版嵁绔�鍦ㄦ敹鍒癈lear to Send(TP.CM_CTS) 娑堟伅鍚庯紝寮�濮婦ata Transfer(TP.DT)娴佺▼.娴佹帶鍒剁敱鎺ユ敹绔�璐熻矗锛屽綋鍙戦�佺��浼犺緭杩囧揩锛屾帴鏀剁��鍙�鑳芥潵涓嶅強澶勭悊鎺ユ敹鐨勬暟鎹�鏃讹紝鎺ユ敹绔�閫氳繃鍙戦�丆lear to Send锛圱P.CM_CTS锛夋秷鎭�锛屽苟灏嗚�ユ秷鎭�鐨�
缁撴潫杩炴帴

鎺ユ敹绔�鎺ユ敹瀹屾渶鍚庝竴涓�鍖呭悗锛屽洖鍙戜竴涓�缁撴潫杩炴帴娑堟伅end-of-message ack锛岀敤浠ラ�氱煡浼犺緭瀹屾垚锛岄噴鏀捐繛鎺ャ��
褰撲紶杈撳嚭鐜板紓甯告椂锛屽彂閫佺��璐熻矗涓�姝㈣繛鎺ラ�氳繃鍙戦�丆onnection Abort娑堟伅鏉ュ畬鎴愩�傞渶瑕佹敞鎰忕殑鏃讹紝鎺ユ敹绔�鏃犳潈涓�姝㈣繛鎺ャ��
濡傚浘 1姝ｅ父浼犺緭娴佺▼锛屼竴鑸�鍙�瀵艰嚧涓�姝㈣繛鎺ョ殑鎯呭喌濡備笅鍑犵�嶏細

T1锛屽湪浼犺緭瀹屾暟鎹�涔嬪墠锛屼袱鍖呮暟鎹�涔嬮棿鐨勬椂闂撮棿闅旇秴杩囦簡250ms銆俆2锛屽彂鍑篊lear to Send(TP.CM_CTS) 娑堟伅鍒版帴鏀跺埌鏁版嵁鍖呯殑鏃堕棿闂撮殧瓒呰繃1250ms銆俆3锛屼袱娆�Clear to Send(TP.CM_CTS) 娑堟伅闂撮殧瓒呰繃1250ms銆俆4锛屽彂鍑篊lear to Send(TP.CM_CTS) 娑堟伅鐢ㄤ互鏆傚仠鏁版嵁浼犺緭鍒颁笅涓�涓狢lear to Send(TP.CM_CTS) 娑堟伅涔嬮棿鐨勬椂闂撮棿闅旇秴杩�550ms銆�

娑堟伅瀹氫箟

杩炴帴绠＄悊

鍙傛暟缁勫悕锛欳onnection Management 杩炴帴绠＄悊
PGN瀹氫箟锛�

PGN			DLC
DP	PF	PS
0	236	鐩�鏍囧湴鍧�	8
60416

鏁版嵁鍙戦�佽�锋眰Request To Send (TP.CM_RTS)

Data Field
1	2	3	4	5	6	7	8
鎺у埗瀛楋細16	鎬诲瓧鑺傛暟		鎬诲寘鏁�	淇濈暀锛� 0xFF	鎵�浼犺緭鍐呭�圭殑PGN

鏁版嵁杩囩▼绠＄悊Clear To Send (TP.CM_CTS)

Data Field
1	2	3	4	5	6	7	8
鎺у埗瀛楋細17	鍙戦�佸寘鏁�	涓嬩竴鍖呭簭鍙�	淇濈暀锛� 0xFF	淇濈暀锛� 0xFF	鎵�浼犺緭鍐呭�圭殑PGN

缁撴潫娑堟伅浼犺緭End of Message Acknowledgement (TP.CM_EndofMsgACK)

Data Field
1	2	3	4	5	6	7	8
鎺у埗瀛楋細19	鎬诲瓧鑺傛暟		鎬诲寘鏁�	淇濈暀锛� 0xFF	鎵�浼犺緭鍐呭�圭殑PGN

缁堟�㈣繛鎺�Connection Abort (TP.Conn_Abort)

Data Field
1	2	3	4	5	6	7	8
鎺у埗瀛楋細255	淇濈暀锛� 0xFF	淇濈暀锛� 0xFF	淇濈暀锛� 0xFF	淇濈暀锛� 0xFF	鎵�浼犺緭鍐呭�圭殑PGN

骞挎挱鍙戦��Broadcast Announce Message (TP.CM_BAM)

Data Field
1	2	3	4	5	6	7	8
鎺у埗瀛楋細32	鎬诲瓧鑺傛暟		鎬诲寘鏁�	淇濈暀锛� 0xFF	鎵�浼犺緭鍐呭�圭殑PGN

鏁版嵁浼犺緭DataTransfer

鍙傛暟缁勫悕锛欴ata Transfer鏁版嵁浼犺緭锛圱P.DT锛�
PGN瀹氫箟锛�

PGN			DLC
DP	PF	PS
0	235	鐩�鏍囧湴鍧�	8
60160

Data Field
1	2	3	4	5	6	7	8
鍖呭簭鍙�	浼犺緭鐨勬暟鎹�鍐呭��

璇锋眰Request

PGN			DLC
DP	PF	PS
0	234	鐩�鏍囧湴鍧� 锛堝箍鎾�255锛�	3
60160

Data Field
1	2	3
璇锋眰鍐呭�圭殑PGN

娉�锛氱敱浜庢湁浜涜�锋眰鐨勬暟鎹�鍙�鑳借秴杩�8瀛楄妭锛屽�逛簬瓒呰繃8瀛楄妭瀹归噺鐨勬暟鎹�锛屽皢浼氬垎澶氫釜鍖呭簲绛斿洖鏉ャ��
鍝嶅簲璇锋眰

搴旂瓟Acknowledgement

PGN瀹氫箟锛�

PGN			DLC
DP	PF	PS
0	232	鐩�鏍囧湴鍧� 锛堝箍鎾�255锛�	8
59392

Data Field
1	2	3	4	5	6	7	8
ACK锛�0 NACK锛�1	淇濈暀锛� 0xFF				璇锋眰鐨凱GN

閫氳��鍦烘櫙

鐐瑰�圭偣閫氳��

鍙戦�佺��鍙戣捣渚濇�′紶杈撶粍浠禝D鐨勬暟鎹�閫氳��娴佺▼濡備笅鍥炬墍绀恒��


鍥�1姝ｅ父浼犺緭娴佺▼
骞挎挱閫氳��

骞挎挱閫氳��涓嶅悓浜庣偣瀵圭偣鐨勯�氳��妯″紡锛屽箍鎾�閫氳��姣忎竴鍖呯殑鍙戦�侀棿闅斾负50ms鍒�200ms涔嬮棿锛岃秴杩囨垨灏戜簬鍧囦細浜х敓閿欒��銆傛帴鏀跺箍鎾�鏁版嵁鏃犻渶杩涜�屽簲绛旓紝涔熶笉鑳借繘琛屾祦閲忔帶鍒躲��


璇锋眰鏁版嵁

褰撻渶瑕佽幏鍙栨寚瀹氭暟鎹�鏃讹紝璇锋眰绔�闇�瑕佸悜搴旂瓟绔�鍙戦�佽�锋眰鏁版嵁娑堟伅銆傚簲绛旂��浼氭牴鎹�璇锋眰鐨勫唴瀹归�夋嫨搴旂瓟鎵�璇锋眰鐨勬暟鎹�锛屽�傚浘 2 璇锋眰-搴旂瓟鎵�绀虹殑鍐呭�癸紝鎴栧仛鍑篘ACK鐨勫洖搴旓紝濡傚浘 3 璇锋眰-涓嶅簲绛旀墍绀虹殑娴佺▼銆�


鍥� 2璇锋眰-搴旂瓟


鍥� 3璇锋眰-涓嶅簲绛�
骞挎挱鏁版嵁

鍦ㄦ煇浜涘簲鐢ㄥ満鏅�涓�锛屼竴鍙版槸琚�闇�瑕佷笉鏂�鍚戞�荤嚎涓婂箍鎾�鏁版嵁锛岄�氳��娴佺▼濡傚浘 4 骞挎挱鏁版嵁鎵�绀恒��


鍥� 4骞挎挱鏁版嵁
鍥為�堟寚浠わ紙Command锛夌殑杩愯�岀粨鏋�

涓轰簡鎵ц�屾煇浜涚壒瀹氬姩浣滐紝姣斿�傛帶鍒惰疆瀛愯浆鍚戯紝鎵ц�岀��蹇呴』缁欏嚭鏌愪簺鍙嶉�堬紝杩欎簺鍙嶉�堝彲浠ユ槸ACK锛屽綋鍔ㄤ綔鎵ц�屾垚鍔熸垨瀹屾垚锛涗篃鍙�浠ュ弽棣圢ACK锛屾彁閱掓寚浠ゆ墽琛屽け璐ワ紝鎴栫洿鎺ラ�氳繃璇诲彇鏌愪簺鏁版嵁鏉ヨ嚜琛屽垽鏂�鎸囦护鐨勬墽琛岀姸鍐点��
甯歌�侀棶棰樻眹鎬�

Q锛氭湰鍗忚��鏄�鍚︽敮鎸佽秴杩�8瀛楄妭鐨勬暟鎹�浼犺緭锛�
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