can模块手册(协议部分)
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6 i CAN
6.1䗮䆃 䆂 ⱘḐ
i CAN 䗮䆃 䆂Ё 䞛⫼ Ḑ ˈ ѢCAN ⱘ29ԡ 䆚ヺ ⱘՓ⫼䛑њњ䆺㒚ⱘ㾘 DŽ䗮䆃 ⱘḐ 㾘 㸼 6.1 ⼎˖
㸼 6.1 Ḑ
䇈 ϟ˖
1ˊ㡖⚍㓪 ˄MAC ID˅
㡖⚍㓪 ˄MAC ID˅Ў䆒 㔥㒰Ϟⱘ ϔ 䆚ˈ 䜡Ў8ԡˈ㣗 Ў0x00-0xFEˈ0xFFЎ⡍⅞⫼䗨DŽϔϾ㔥㒰 254Ͼ㡖⚍DŽ 䗮䆃 Ё䗮䖛 њ 䗕㡖⚍ 㡖⚍ⱘ㓪 䇈 䗮䆃ⱘ Ϣ㗙DŽ
z SrcMACID (⑤㡖⚍㓪 )˖ 䗕㡖⚍ⱘ㓪 ˈ 䜡8ԡˈ 㣗 Ў˖0x00-0xFEDŽ
⑤㡖⚍ⱘID
z DestMACID (Ⳃ 㡖⚍ )˖ 㡖⚍ⱘ㓪 DŽ 䜡8ԡˈ 㣗 Ў˖0x00-0xFFDŽ DestIDЎ0xFF ˈ㸼⼎ 䗕ⱘ DŽ ϡ䳔㽕 ㄨDŽ
2ˊACK˄ ԡ˅
3ˊFUNC ID˄ 㛑ⷕ˅
FUNC ID˖ 㛑ⷕˈ 䜡4ԡDŽ 㛑ҷⷕ⫼Ѣ ⼎ ⱘ 㛑ˈ 㛑ⷕ㾕㸼 6.2˖
㸼 6.2 㛑ⷕ 㸼
4ˊ Source ID˄䌘⑤㡖⚍ 㓪 ˅
Source ID˄䌘⑤㡖⚍˅˖⫼Ѣ ⼎ ⱘ䆒 䚼 ˈ 䜡8ԡDŽ 䆂Ё䌘⑤㡖⚍ Ўϸ㉏ ˖I/O ҹ 䜡㕂 DŽ 䆂Ё䌘⑤㡖⚍ⱘ ⫼256 㡖ぎ䯈DŽ 䆂Ё Нⱘ䌘⑤㡖⚍ ϟ㸼 ⼎˖
㸼 6.3 䌘⑤ 㸼
䜡㕂䌘⑤㡖⚍㓪 㣗 0xE0-0xff˗䜡㕂 Џ㽕⫼Ѣ䆒 ⱘ 䆚 ǃ䗮䆃 ҹ IO DŽ䜡㕂䌘⑤ 㸼 ϟ˖
㸼 6.4 䜡㕂䌘⑤ 㸼
5ˊRTR
䖰 䆚ˈ 䆂Ё䆒㕂Ў0ˈ ϡՓ⫼䖰 Ḑ DŽ
6ˊ 䚼 ˄Byte0-Byte7˅
ⱘ ˈ ҹ 8Ͼ 㡖 ˗Byte0⫼ ҷⷕˈ↣ ⱘ 䖒7ϾDŽ ⡍ ⱘ ЁˈByte1㹿⫼LengthFlagǃErrIDㄝ DŽ
z Byte0˄SegFlag˅
䚼 ϔϾ 㡖Byte0ЎSegFlag˖ ҷⷕDŽ ҷⷕSegflag䆒 ⱘĀByte 0”ԡ㕂ˈ⫼Ѣ ⦄Ā ↉ āḐ ⱘ Ӵ䕧ˈ ↉ 䳔㽕Ӵ䗕 Ѣ7Ͼ 㡖䭓 ⱘՓ⫼DŽ
Ӵ䕧≵ ↉DŽ
䞣 Ӵ䕧ⱘ Ͼ ↉˗ℸ ˈ6HJ1XP [ DŽ
Ё䯈 ↉DŽ6HJ1XP Ң [ 䍋ˈ↣ ˈҹ ↉ DŽ
↉DŽ6HJ1XP DŽ
䇈 ˖ 䞛⫼ ↉Ӵ䕧ˈ1 ↉ⱘSegFlag=0x40ˈ ⱘ ↉SegFlag=0xC0 DŽ Ӵ䗕 ˈ 㡖⚍(Ⳃ 㡖⚍) ԧⱘ 1 DŽz Byte1˄LengthFlagǃErrID˅
LengthFlag˖ Ā䇏ッ ā ҸЁ ⦄ˈ 䜡1Ͼ 㡖ˈԡѢ Byte1ԡ㕂DŽLengthFlag㸼⼎䳔㽕䇏ⱘ 㡖 DŽ
ErrID˄䫭䇃 ⷕ˅˖ 䫭䇃 ЁՓ⫼ˈ⫼Ѣ䇈 䫭䇃 ⱘ㉏ ˖
6.2 䗮䆃䖲 ⱘ ゟ
Ў ⦄Ϣ䆒 ⱘ䗮䆃ˈЏ 䆒 乏佪 ゟϢ䆒 ⱘ䗮䆃䖲 ˈ✊ ҹϢ䆒 䖯㸠 Ѹ DŽ 䆹⢊ ϟˈЏキϢҢキ ゟ䗮䆃ⱘ䖛 ϟ 6.1 ⼎˖
6.1 䖲 ゟ⼎
6.2.1 ゟ䖲
Ā ゟ䖲 ā Ҹ ⫼ѢЏキ䆒 ゟϢҢキ䆒 П䯈ⱘ䗮䆃ˈ䗮䖛 Ѣ䌘⑤㡖⚍0xF7䆓䯂 ⦄ⱘDŽ
zĀ ゟ䖲 ā Ҹ Ḑ ϟ˖
䇈 ˖ Ā ゟ䖲 ā Ҹ Ё⑤㡖⚍ ЎЏキMACIDˈ 䭓 Ў3Ͼ 㡖ˈ ϔϾ 㡖㸼⼎ ↉ⷕ 䆚ˈ ѠϾ 㡖㸼⼎Master MACID˄Ϣ⑤㡖⚍MACIDϔ㟈˅ˈ ⱘϝϾ 㡖㸼⼎Џキ ⦃ ˄CyclicMaster˅DŽ
⊼ ˖ CyclicMaster>0 ˈ˄CyclicMaster*4˅ 䯈ЎҢキ Џキ 䗕䗮䆃 ⱘ 䍙 ⱘ 䯈䯈䱨˗ 䗮䆃䖛ЁˈҢキ Џキ䗮䆃 䍙 ˈ 㞾 䰸䖲 ˈ䗔 䗮䆃
䇈 ˖Ңキ ⱘ Ҹ ⊩ⱘˈϨℷ⹂ ⧚ ↩ˈ 䖨 ℷ ˗ 䚼 ЁˈϔϾ 㡖㸼⼎䆒 ЁDI 䭓 ˈѠϾ 㡖㸼⼎䆒 ЁⱘDO 䭓 ˈϝϾ 㡖㸼⼎䆒 ЁⱘAI 䭓 ˈ Ͼ 㡖㸼⼎䆒 ЁⱘAO 䭓 DŽ
䇈 ˖ Ңキ Ā ゟ䖲 ā Ҹ ˈ Ңキ 㒣Ϣ ҪЏキ ゟ䖲 㗙 Ҹ 䫭䇃ˈ 䖨 䫭䇃 DŽ Ёҹ䫭䇃 㸼⼎ˈ ЁⱘERRID⫼Ѣ䇈 䫭䇃㉏ DŽ
z⼎՟
ҹ⑤㡖⚍(0x00) Ⳃ 㡖⚍(0x15)ⱘ ゟ䖲 ҸЎ՟ˈ ҹ䇈 DŽ㡖⚍˄0x15˅Ў8 䞣䕧 8 䞣䕧 ˈЏキ䗮䆃 䆒㕂Ў0xFFDŽ
6.2.2 䰸䖲
Ā 䰸䖲 ā Ҹ ⫼ѢЏキ 䫔ϢҢキ ゟⱘ䗮䆃DŽ
䇈 ˖ Ā 䰸䖲 ā Ҹ Ё 䭓 Ў2Ͼ 㡖ˈ ϔϾ 㡖㸼⼎ ↉ⷕ 䆚ˈ ѠϾ 㡖㸼⼎Master MACIDDŽ
⑤㡖⚍ Ⳃ 㡖⚍ $&. 㛑ⷕ˖ [ 䌘⑤㡖⚍
[)
↉ⷕ
6HJIODJ [
䇈 ˖Ңキ ⱘ Ҹ ⊩ⱘˈϨℷ⹂ ⧚ ↩ˈ 䖨 ℷ ˗
䇈 ˖ Ңキ Ā 䰸䖲 ā Ҹ ˈ Ңキ ≵ ゟ䖲 㗙 Ҹ 䴲⊩ˈ 䖨 䫭䇃 DŽ Ёҹ䫭䇃 㸼⼎ˈ ЁⱘERRID⫼Ѣ䇈 䫭䇃㉏ DŽ
6.3 䗮䆃⊶⡍⥛ⱘ
⊶⡍⥛ 䆒 Ў3 ˈ 䗮䖛㔥㒰䆒㕂CAN⊶⡍⥛ MAC ID ˈ ϡ ✻ ⷕ 䖯㸠䆒 DŽ㔥㒰䆒㕂 䗮䖛 Ҹ 䌘⑤㡖⚍0xEE 0xF0䆓䯂 ⦄ⱘDŽ
6.3.1㡖⚍MACID䆒㕂
䇈 ˖ Ā䖲㓁䇏ッ ā Ҹ Ё 䭓 Ў2Ͼ 㡖ˈ ϔϾ 㡖㸼⼎ ↉ⷕ 䆚˄Segflag =0x00˅ˈѠϾ 㡖˄0$&,'˅Ў 㽕䆒 ⱘ㡖⚍ DŽ
䇈 ˖Ңキ ⱘ Ҹ ⊩ⱘˈϨℷ⹂ ⧚ ↩ˈ 䖨 ℷ ˗
䇈 ˖ Ңキ Ā䆒㕂MACIDā Ҹ ˈ 䆹 Ҹ 䴲⊩ˈ 䖨 䫭䇃 DŽ Ёҹ䫭䇃 㸼⼎ˈ ЁⱘERRID⫼Ѣ䇈 䫭䇃㉏ DŽ
z⼎՟
6.3.2㡖⚍⊶⡍⥛䆒㕂
䇈 ˖ Ā䖲㓁䇏ッ ā Ҹ Ё 䭓 Ў5Ͼ 㡖ˈ ϔϾ 㡖㸼⼎ ↉ⷕ 䆚˄Segflag =0x00˅ˈ2~5Ͼ 㡖˄%$8'5$7(˅Ў 㽕䆒 ⱘ㡖⚍⊶⡍⥛ (⊼ ˖ ѢICAN ˈ2ǃ3ϸϾ 㡖 ˈ ҷ㸼 0ǃ 1 ˈ⊶⡍⥛䆒 ҹ 㗗䰘 )DŽ
䇈 ˖Ңキ ⱘ Ҹ ⊩ⱘˈϨℷ⹂ ⧚ ↩ˈ 䖨 ℷ ˗
䇈 ˖ Ңキ Ā䆒㕂MACIDā Ҹ ˈ 䆹 Ҹ 䴲⊩ˈ 䖨 䫭䇃 DŽ Ёҹ䫭䇃 㸼⼎ˈ ЁⱘERRID⫼Ѣ䇈 䫭䇃㉏ DŽ
z⼎՟
6.4 ԡ
Ā䆒 ԡā Ҹ ⫼Ѣ ԡ䆒 DŽ
䇈 ˖ Ā䆒 ԡā Ҹ Ё䌘⑤㡖⚍ ҹЎӏ ˈ 䭓 Ў2Ͼ 㡖ˈ ϔϾ 㡖㸼⼎ ↉ⷕ 䆚ˈ ѠϾ 㡖㸼⼎Ⳃ 㡖⚍IDDŽ
z⼎՟