车载网络4-CAN报文传输new教学教材.ppt

* 1 The period of BUS IDLE may be of arbitrary length. 2 The bus is recognized to be free and any station having something to transmit can access the bus. 3 A message, which is pending for transmission during the transmission of another message(上一次未作为发送节点，所以没有 suspend transmission), is started in the first bit following INTERMISSION. 4 The detection of a ’dominant’ bit on the bus is interpreted as a START OF FRAME. * k 1 SUSPEND TRANSMISSION---- eight ’recessive’ bits 2 After an ’error passive’ station has transmitted a message, it sends eight ’recessive’ bits following INTERMISSION, before starting to transmit a further message or recognizing the bus to be idle. 3 If meanwhile a transmission (caused by another station) starts, the station will become receiver of this message. 举例：3个节点，A,B,C，A，B同时发送报文，C接收，A主动错误节点，B被动错误节点，B报文优先级高于A报文，第一次， B获取总线控制权，第二次，A获取总线控制权 * 1 A unit originating a message is called “TRANSMITTER” of that message. The unit stays TRANSMITTER until the bus is idle or the unit loses ARBITRATION. 2 A unit is called “RECEIVER” of a message, if it is not TRANSMITTER of that message and the bus is not idle. * 1 Message filtering is based upon the whole Identifier. Optional mask registers that allow any Identifier bit to be set ’don’t care’ for message filtering, may be used to select groups of Identifiers to be mapped into the attached receive buffers. 2 If mask registers are implemented every bit, mask registers must be programmable(可编程的), i.e. they can be enabled or disabled for message filtering. The length of the mask register can comprise(包含) the whole IDENTIFIER or only part of it. * 70f3239单片机的CAN控制器的ID寄存器。 先不论mask的事，举例，收发双方，三节点，一个id相同，一个id不同 * 70f3239单片机的CAN控制器的MASK寄存器。 举例：标准格式，扩展格式分别举例 * 1 Transmitter: （1） The message is valid for the transmitter, if there is no error until the end of END OF FRAME. （2） If a message is corrupted, retransmission will follow automatically and according to prioritization. In order to b