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鈻� CAN鎰忎负Controller Area Network锛屾帶鍒跺尯鍩熺綉缁溿�傚畠鏄�涓�绉嶇壒鍒�閫傚悎浜庣粍寤轰簰杩炵殑璁惧�囩綉缁滅郴缁熸垨瀛愮郴缁熴��
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�鍙告墍寮�鍙戯紝鍏锋湁蹇�閫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�佹眰锛屾墍浠ュ緱鍒颁簡杩呴�熺殑鎺ㄥ箍鍙婂簲鐢�锛岃繖鎴愪负CAN鑺�鐗囦环鏍肩殑闄嶄綆鍜屽叾鎬ц兘鐨勬彁楂樼殑鏈�澶у姩鍔涖�侱eviceNet搴曞眰浠�CAN涓哄熀纭�锛屽洜姝わ紝DeviceNet鎵�浣跨敤鐨凜AN鑺�鐗囬�氬父鏄�鍏跺畠缃戠粶鎵�浣跨敤鑺�鐗囦环鏍肩殑浜斿垎涔嬩竴鍒板崄鍒嗕箣涓�銆�
鈻� 涓�涓�鍏稿瀷鐨凜AN搴旂敤浜庢苯杞︽帶鍒剁殑渚嬪瓙濡備笅鎵�绀猴細


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�缃椾緷鏂疭aab钀ㄥ崥Volvo娌冨皵娌傾udi/VW濂ヨ开/澶т紬鍙﹀�栬繕鏈変竴浜涙硶鍥斤紝缇庡浗锛屾棩鏈�鐨勬苯杞﹀埗閫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�傛棩浜э紝涓扮敯銆�
ISO 11898鏍囧噯      
鈻� CAN涓嶪SO涓冨眰妯″紡涔嬮棿鐨勫叧绯诲�備笅鍥炬墍绀猴細



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�鐣欑粰鐢ㄦ埛鑷�宸辫繘琛屽畾涔夛紝杩欏彲浠ユ彁渚涗竴涓�鐏垫椿澶氬彉鐨勬暟鎹�浼犺緭骞冲彴锛孌eviceNet灏辨槸杩欑�嶅簲鐢ㄤ腑涓�涓�寰堝吀鍨嬬殑渚嬪瓙銆�      
鈻� CAN鐨勫簲鐢ㄥ眰鍗忚�瓹AN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�杩炶疮鎬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�鍔ㄩ噸鏂板彂閫佹崯鍧忕殑鎶ユ枃锛圓utomatic retransmission of corrupted messages锛夛紱   鍖哄垎涓�涓�鑺傜偣鏆傛椂鎬т笌姘镐箙鎬х殑閿欒��涓庤嚜寰嬫�х殑涓�鏂�鏈夌己闄风殑鑺傜偣銆�      
鈻� 鍗忚��璇存槑锛氱洰鍓嶇殑淇�璁㈢増鏄�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�     




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�備笅渚嬫墍绀猴細      
    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�   

鈻� 闈為浂浣嶅�嶅師缂栫爜锛圢RZ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�℃暟锛屽櫔闊充俊鍙烽殢涔嬪噺灏戯紝姝ゆ妧鏈�涔熶娇CAN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�涓嶅畾鎬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�鍏呮妧鏈�锛圔it-Stuffing锛夈�備綅鍏冨～鍏呮妧鏈�鍦ㄦ瘡浜斾釜杩炵画鐨勭浉鍚岀數骞充箣鍚庢彃鍏ヤ竴涓�浣嶅厓鐨勫弽鐩哥數骞炽��   

鍦ㄦ暟鎹�浼犺緭鏃讹紝濉�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�佷笌閿欒��渚︽祴   



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�缃戯紝瀹冪殑鏈哄埗鏄�濡傛灉鏈変袱涓�鑺傜偣鍚屾椂浼犺緭鏁版嵁锛屽垯涓や釜閮界瓑寰呬笉鍚岀殑鏃堕棿鍚庡啀杩涜�屼紶閫侊紝浼氭氮璐逛竴瀹氱殑甯﹀�芥椂闂淬��   
NBDA锛氶潪鐮村潖鎬х殑浣嶅厓浠茶�佹満鍒讹紝鍏跺師鐞嗕负鑺傜偣鐨勬暟鎹�鎸変竴瀹氱殑鏂瑰紡鏈変紭鍏堟潈锛圕AN鏄�鏄炬�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�浼犻�佹暟鎹�锛屽悓鏃朵紭鍏堟潈浣庣殑鑺傜偣鍙栨秷鍙戦�侊紝鍥犳�や笉浼氭氮璐瑰甫瀹姐��   

鈻� 浠茶�佸師鐞嗗�備笅鍥撅細   



鍥句腑涓変釜鑺傜偣鍚屾椂浼犻�佹暟鎹�锛屼絾鍙�鏈夌��涓�涓�鑺傜偣鍙戦�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�鑺傜偣鍦ㄥ彂閫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�鐨勬暟鎹�淇″彿锛�  


  閿欒��甯э紙Error Frame锛�       涓诲姩閿欒��甯э紙Error Active Frame锛�       琚�鍔ㄩ敊璇�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�鍖猴紝DeviceNet涓嶄娇鐢�锛�  


  瓒呰浇甯э紙Overload Frame锛�  


鈻� CAN鐨勯敊璇�渚︽祴  


  浣嶉敊璇�锛圔it Error锛夛紱  


  濉�鍏呴敊璇�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