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目录 1．介绍............................................................................................................................................................3 2．基本概念....................................................................................................................................................3 3．报文传输....................................................................................................................................................6 3.1 帧类型..................................................................................................................................................6 3.1.1 数据帧...........................................................................................................................................6 3.1.2 远程帧...........................................................................................................................................9 3.1.3 错误帧.........................................................................................................................................10 3.1.4 过载帧......................................................................................................................................... 11 3.1.5 帧间空间..................................................................................................................................... 11 3.2 发送器/接收器的定义.........................................................................................................................12 4．报文校验..................................................................................................................................................12 5．编码..........................................................................................................................................................13 6．错误处理..................................................................................................................................................13 6.1 错误检测............................................................................................................................................13 6.2 错误标定............................................................................................................................................13 7．故障界定..................................................................................................................................................13 8．位定时要求..............................................................................................................................................15 9 增加CAN 振荡器容差...............................................................................................................................16 9.1 协议修改............................................................................................................................................17
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