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stm32f407的can资料,一份入门资料
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CAN入门书
Guide
封
Rev.1.00
RCJ05B0027-0100
2006.02
应用手册
RCJ05B0027-0100/Rev.1.00 2006.02 Page 1 of 48
CAN 入门书
1. 概要
本资料是面向 CAN 总线初学者的 CAN 入门书。对 CAN 是什么、CAN 的特征、标准规格下的位置分布等、
CAN 的概要及 CAN 的协议进行了说明。
2. 使用注意事项
本资料对博世(BOSCH)公司所提出的 CAN 概要及协议进行了归纳,可作为实际应用中的参考资料。对于
具有 CAN 功能的产品不承担任何责任。
目录
1. 概要 ................................................................................................................................................... 1
2. 使用注意事项..................................................................................................................................... 1
3. CAN 是什么?.................................................................................................................................... 2
3.1 CAN 的应用示例................................................................................................................................3
3.2 总线拓扑图 ........................................................................................................................................ 4
4. CAN 的特点 ....................................................................................................................................... 5
5. 错误 ................................................................................................................................................... 6
5.1 错误状态的种类 ................................................................................................................................. 6
5.2 错误计数值 ........................................................................................................................................ 8
6. CAN 协议的基本概念......................................................................................................................... 9
7. CAN 协议及标准规格....................................................................................................................... 12
7.1 ISO 标准化的 CAN 协议 .................................................................................................................. 12
7.2 ISO11898 和 ISO11519-2 的不同点................................................................................................ 13
7.3 CAN 和标准规格.............................................................................................................................. 17
8. CAN 协议......................................................................................................................................... 18
8.1 帧的种类 .......................................................................................................................................... 18
8.2 数据帧.............................................................................................................................................. 21
8.3 遥控帧.............................................................................................................................................. 28
8.4 错误帧.............................................................................................................................................. 30
8.5 过载帧.............................................................................................................................................. 31
8.6 帧间隔.............................................................................................................................................. 32
8.7 优先级的决定................................................................................................................................... 33
8.8 位填充.............................................................................................................................................. 36
8.9 错误的种类 ...................................................................................................................................... 37
8.10 错误帧的输出................................................................................................................................... 39
8.11 位时序.............................................................................................................................................. 40
8.12 取得同步的方法 ...............................................................................................................................42
8.13 硬件同步 .......................................................................................................................................... 43
8.14 再同步.............................................................................................................................................. 44
8.15 调整同步的规则 ...............................................................................................................................45
应用手册
RCJ05B0027-0100/Rev.1.00 2006.02 Page 2 of 48
3. CAN 是什么?
CAN 是 Controller Area Network 的缩写(以下称为 CAN),是 ISO
*1
国际标准化的串行通信协议。
在当前的汽车产业中,出于对安全性、舒适性、方便性、低公害、低成本的要求,各种各样的电子控制系统
被开发了出来。由于这些系统之间通信所用的数据类型及对可靠性的要求不尽相同,由多条总线构成的情况很
多,线束的数量也随之增加。为适应“减少线束的数量”、“通过多个 LAN,进行大量数据的高速通信”的需
要,1986 年德国电气商博世公司开发出面向汽车的 CAN 通信协议。此后,CAN 通过 ISO11898 及 ISO11519 进
行了标准化,现在在欧洲已是汽车网络的标准协议。
现在,CAN 的高性能和可靠性已被认同,并被广泛地应用于工业自动化、船舶、医疗设备、工业设备等方面。
图 1 是车载网络的构想示意图。CAN 等通信协议的开发,使多种 LAN 通过网关进行数据交换得以实现。
CAN
〜
125 kbps
CAN
125kbps
CAN
500kbps
马达
马达
空调
子网
●
LIN 2.4〜19.2kbps
仪表板
遥控门
锁
车身 部
信息部
●MOST
●1394
引爆管
传感 器
安全部
子网
●
Safe-
by
-Wire
(150kbps)
车门
制动
子网
●
FlexRay
*
2
(5Mbps)
胎压
故障诊断部
●
CAN(规格 )
诊断工具
网关
开关 开关
转向
发动机・
传动部
自动变
速箱
CAN
500kbps
前大灯 窗电动 组合灯
自适应
前灯
音视频
MD/CD
碟盒
底盘部
白线检测
雷达
ITS部
发动机
交通信
息导航
马达
电子防
盗系统
气囊控制
乘客检测
自适应
巡航
图 1. 车载网络构想
【注】 *1 ISO: International Organization for Standardization (国际标准化组织)
*2 FlexRay
TM
为戴姆勒克莱斯勒公司注册商标。
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