Industry CAN-bus Application Protocol
iCAN 协议规范
Rev 1.01
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广州致远电子有限公司 工业通讯网络事业部
广州致远电子有限公司
iCAN 协议规范
©2007
Guangzhou Zhiyuan Electronics CO., LTD.Date:2007/12/17
iCAN 协议规范
Rev 1.00
2/57
Industry CAN-bus Application Protocol
修订历史
版本 日期 原因
Rev X1 2007/06/12 内部制定初稿
Rev 1.00 2007/09/22 第一次发布
Rev 1.01 2007/12/17 更改波特率定义
广州致远电子有限公司
iCAN 协议规范
©2007
Guangzhou Zhiyuan Electronics CO., LTD.Date:2007/12/17
iCAN 协议规范
Rev 1.00
3/57
Industry CAN-bus Application Protocol
目录
1. CAN 协议规范简介 .....................................................................................................................6
2. iCAN 协议规范的介绍 ................................................................................................................8
2.1 iCAN 协议规范中专有名词解释 ....................................................................................8
2.2 iCAN 网络的特性 ............................................................................................................9
2.2.1 电气传输介质...............................................................................................................9
2.2.2 物理层.........................................................................................................................10
2.2.3 数据链路层.................................................................................................................10
2.3 iCAN 协议规范中数据通讯的实现 .............................................................................. 11
2.3.1 数据通讯模型.............................................................................................................11
2.3.2 iCAN 网络设备的编址 ..............................................................................................12
2.3.3 基于连接的通讯.........................................................................................................12
2.4 设备模型.........................................................................................................................13
2.4.1 资源节点.....................................................................................................................14
2.4.2 资源子节点.................................................................................................................16
3. iCAN 协议报文格式 ..................................................................................................................17
3.1 iCAN 报文的格式说明 ..................................................................................................17
3.2 iCAN 报文标识符的分配 ..............................................................................................17
3.2.1 MAC ID（节点地址） ..............................................................................................18
3.2.2 ACK（响应标识位） ................................................................................................19
3.2.3 FuncID（功能码）.....................................................................................................19
3.2.4 Source ID（资源节点地址）.....................................................................................19
3.3 iCAN 帧数据部分定义 ..................................................................................................20
3.3.1 Byte0（SegFlag） ......................................................................................................20
3.3.2 Byte1~Byte7（Para） ................................................................................................21
4. iCAN 通讯帧传输协议 ..............................................................................................................23
4.1 iCAN 协议通讯模式 ......................................................................................................23
4.1.1 主从通讯模式.............................................................................................................23
4.1.2 事件触发通讯模式.....................................................................................................24
4.2 iCAN 协议报文处理流程 ..............................................................................................24
4.3 iCAN 报文传输协议 ......................................................................................................26
4.3.1 iCAN 帧格式 ..............................................................................................................26
4.3.1.1 命令帧.................................................................................................................26
4.3.1.2 正常响应帧.........................................................................................................26
4.3.1.3 异常响应帧.........................................................................................................26
4.3.2 iCAN 报文传输的一般规则 ......................................................................................26
4.3.2.1 MAC ID 检测帧 .................................................................................................27
4.3.2.2 广播帧.................................................................................................................27
广州致远电子有限公司
iCAN 协议规范
©2007
Guangzhou Zhiyuan Electronics CO., LTD.Date:2007/12/17
iCAN 协议规范
Rev 1.00
4/57
Industry CAN-bus Application Protocol
4.3.2.3 事件触发帧.........................................................................................................28
4.3.3 iCAN 分段传输协议 ..................................................................................................28
4.3.3.1 iCAN 分段帧格式 ..............................................................................................28
4.3.3.2 iCAN 分段传输规则 ..........................................................................................29
4.4 iCAN 通讯帧格式解析 ..................................................................................................32
4.4.1 连续写端口命令：FuncID=0x01 ..............................................................................32
4.4.1.1 命令帧格式.........................................................................................................32
4.4.1.2 响应帧格式.........................................................................................................32
4.4.1.3 示例.....................................................................................................................33
4.4.2 连续读端口命令：FuncID=0x02 ..............................................................................34
4.4.2.1 命令帧格式.........................................................................................................34
4.4.2.2 响应帧格式.........................................................................................................35
4.4.2.3 示例.....................................................................................................................36
4.4.3 事件触发传送命令：FuncID=0x03 ..........................................................................37
4.4.3.1 命令帧格式.........................................................................................................37
4.4.3.2 示例.....................................................................................................................37
4.4.4 建立连接命令：FuncID=0x04 ..................................................................................37
4.4.4.1 命令帧格式.........................................................................................................37
4.4.4.2 响应帧格式.........................................................................................................38
4.4.4.3 示例.....................................................................................................................38
4.4.5 删除连接命令：FuncID=0x05 ..................................................................................39
4.4.5.1 命令帧格式.........................................................................................................39
4.4.5.2 响应帧格式.........................................................................................................39
4.4.5.3 示例.....................................................................................................................39
4.4.6 设备复位命令：FuncID=0x06 ..................................................................................40
4.4.6.1 命令帧格式.........................................................................................................40
4.4.6.2 响应帧格式.........................................................................................................40
4.4.6.3 示例.....................................................................................................................40
4.4.7 MAC ID 检测命令：FuncID=0x07 ...........................................................................41
4.4.7.1 命令帧格式.........................................................................................................41
4.4.7.2
响应帧格式.........................................................................................................41
4.4.7.3 示例.....................................................................................................................41
5. iCAN 协议规范中设备定义 ......................................................................................................43
5.1 I/O 资源说明 ..................................................................................................................44
5.1.1 DI：数字量输入单元.................................................................................................44
5.1.2 DO：数字量输出单元 ...............................................................................................44
5.1.3 AI：模拟量输入单元.................................................................................................44
5.1.4 AO：模拟量输出单元 ...............................................................................................45
5.1.5 Serial Port：串口输入、输出单元............................................................................45
5.1.6 Others：其他应用单元 ..............................................................................................46
5.2 配置资源说明.................................................................................................................46
5.2.1 设备标识资源.............................................................................................................47
广州致远电子有限公司
iCAN 协议规范
©2007
Guangzhou Zhiyuan Electronics CO., LTD.Date:2007/12/17
iCAN 协议规范
Rev 1.00
5/57
Industry CAN-bus Application Protocol
5.2.2 通讯参数资源.............................................................................................................47
5.2.3 I/O 参数及设置 ..........................................................................................................49
6. iCAN 协议网络管理 ..................................................................................................................51
6.1 iCAN 设备网络访问状态机制 ......................................................................................51
6.1.1 网络状态.....................................................................................................................52
6.1.1.1 发送 MAC ID 检测报文状态.............................................................................52
6.1.1.2 等待 MAC ID 响应报文.....................................................................................52
6.1.1.3 可操作状态.........................................................................................................52
6.1.1.4 错误状态.............................................................................................................52
6.1.2 MAC ID 检测应用说明 .............................................................................................52
6.2 iCAN 通讯的控制 ..........................................................................................................53
6.2.1 MAC ID 检测定时器 .................................................................................................53
6.2.2 连接定时器.................................................................................................................54
6.2.2.1 主站通讯定时参数（CyclicMaster）定义 .......................................................54
6.2.2.2 连接定时器应用规则.........................................................................................54
6.2.3 循环传送定时器.........................................................................................................55
6.2.3.1 定时循环参数（CyclicParameter）定义 ..........................................................55
6.2.3.2 循环定时应用规则.............................................................................................55
6.2.4 事件触发时间管理.....................................................................................................56
声明.................................................................................................................................................57
