CAN总线及其在汽车上的应用

CANCAN1CAN1CAN„„20208080BoschBoschMerdecadesMerdecades--BenzBenzintelintelDr.WolfhardDr.Wolfhardlawrenzlawrenz““ControllerAreaControllerAreaNetworkNetwork””1986198622SAESAERoberRoberBoschBoschcancanCANCANCANCAN2CAN2CAN„„SAESAE33„„AAAA//1110kb/s10kb/sAAAudiAudi„„MotorolaBMW,MotorolaBMW,„„VCTVCTAALINLIN„„BBBBBBBBCANCAN,,11591,11591,100100//„„CCBBABSABS,,„„1189811898125125//11//„„CDCDCANCAN1Mb/s1Mb/sMOSTMOSTMediaMediaOrienttedOrienttedSystemsTransportSystemsTransport2525//3CAN3CAN„„3.1CAN3.1CAN„„„(10Km)„1Mbit/s„ID„„„„„„3.2CAN3.2CAN„„3.2.1CAN3.2.1CANCANCAN““””““””““00””““11””Vcan-lVcan-htV2.5V1.5V3.5V„„CANCAN/kbps/kbps1000100050050025025012512510010050502020101055/m/m404013013027027053053062062013001300330033006700670010100000003.2.23.2.2ISO/OSIISO/OSICANCANCAN3.2.33.2.3„„„„„„3.2.43.2.4„„CANCAN3.2.53.2.5„„I1=11001101010,I2=11001011011,I3=11001011001.Node344„„4.14.1111RTRIDEDLC2SRR”SubstituteRemoterequestbit”SFFEFFSFFEFF„„CRC„„CRCCRCSEQUENCEACKSLOT“”“”“”ACKSLOT“”CRCCRCDELIMITERACKDELIMITER4.24.2„„4.34.3ERRORFLAG1.6“”2.6“”“”“”“”“”6128“”„„4.44.41.2.“”3.CAN8123“”4.54.5„5SJA1000CAN5SJA1000CAN5.1SJA1000SJA1000SJA1000basicbasicpelicanpelicanSJA1000SJA1000basicbasic5.2SJA10005.2SJA1000„„5.2.1SJA10005.2.1SJA1000„„„„11„„22„„33„„44„„55„„REG_CAN_BTR0REG_CAN_BTR0„„REG_CAN_BTR1REG_CAN_BTR1„„66„„REG_CAN_ACRREG_CAN_ACR„„77„„REG_CAN_AMRREG_CAN_AMR„„88REG_CAN_CMRREG_CAN_CMR„„99REG_CAN_CMRREG_CAN_CMR„„1010REG_CAN_IERREG_CAN_IER5.2.2SJA10005.2.2SJA1000MOVA,#0AAHMOVA,#0AAHMOVX@DPTR,AMOVX@DPTR,AINCDPTRINCDPTRMOVA,#4FHMOVA,#4FHMOVX@DPTR,AMOVX@DPTR,AINCDPTRINCDPTRMOVA,#4FHMOVA,#4FHMOVX@DPTR,AMOVX@DPTR,AINCDPTRINCDPTRMOVA,#0AAHMOVA,#0AAHMOVX@DPTR,AMOVX@DPTR,AMOVDPTR,#7F00HMOVDPTR,#7F00HMOVA,#1AHMOVA,#1AHMOVX@DPTR,ACLRP1.3CLRP1.3LCALLL0227HLCALLL0227HSETBP1.3SETBP1.3LCALLL0227HLCALLL0227HMOVDPTR,#7F00HMOVDPTR,#7F00HMOVA,#1BHMOVA,#1BHMOVX@DPTR,AMOVX@DPTR,AMOVDPTR,#7F1FHMOVDPTR,#7F1FHMOVA,#00HMOVA,#00HMOVX@DPTR,AMOVX@DPTR,AMOVDPTR,#7F04HMOVDPTR,#7F04HMOVA,#55HMOVA,#55HMOVX@DPTR,AMOVX@DPTR,AINCDPTRINCDPTRMOVX@DPTR,A5.2.25.2.2„„88ID.10~ID.3ID.10~ID.3ACRACRAMRAMRID.10~ID.3ID.10~ID.3ACRACRAMRAMRAMRAMR00ID10~ID.301010101ID10~ID.357h01010111ACR55h01010101ACR55h01010101amr101010105.2.35.2.3„„SJA1000SJA1000MOVDPTR,#7F0AH;MOVA,#67H;10~3MOVX@DPTR,AINCDPTRMOVA,#0E2H1110001002MOVX@DPTR,AINCDPTRMOVA,2AH2ahMOVX@DPTR,AINCDPTRMOVA,#05HMOVX@DPTR,AMOVDPTR,#7F01HMOVA,#05HMOVX@DPTR,A5.2.45.2.4„„1111SJA1000SJA1000INTINTINT0,INT0,„„MOVDPTR,#7F15H;MOVDPTR,#7F15H;MOVXA,@DPTRMOVXA,@DPTRJBACC.4,L0208H;JBACC.4,L0208H;INCDPTR;INCDPTR;MOVXA,@DPTRMOVXA,@DPTRMOV2AH,AMOV2AH,AINCDPTRINCDPTRMOVXA,@DPTRMOVXA,@DPTRMOV2BH,AMOV2BH,AMOVDPTR,#7F01HMOVDPTR,#7F01HMOVA,#04HMOVA,#04HMOVX@DPTR,AMOVX@DPTR,A5.2.5pelican5.2.5pelican„„PelicanPelicanbasicbasic112244basicbasic446CAN6CAN„„6.1J19396.1J1939J1939298J1939/7xJ1939CAN6.2CANOPEN6.2CANOPEN„CANopenCiACAN-inAutomationEU-CANopenCALCANApplicationLayerInterbus-SProfibusDeviceProfileCANopenCiA„DeviceProfileCiA6.36.3DeviceNet„DeviceNetAllen-BradleyDeviceNetDeviceNetODVAOpenDeviceNetVendorAssociationDeviceNetDeviceProfile7CAN7CAN„CANInternationalOrganizationforStandardizationISO11992ISO11783SocietyofAutomotiveEngineersSAEJ1939CANPowertrainandchassisBodyelectronicsTCMTransmissioncontrolmoduleCEMCentralelectronicmoduleECMEnginecontrolmoduleSWMSteeringwheelmoduleBCMBrakecontrolmoduleDDMDriverdoormoduleBSCBodysensorclusterREMRearelectronicmoduleSASSteeringanglesensorSWMSteeringwheelmoduleSUMSuspensionmoduleDDMDriverdoormoduleAUDAudiomodulePDMPassengerdoormoduleREMRearelectronicmodule125kRed500kVolvoXC90Infotainment/TelematicsMP1,2Mediaplayers1and2PHMPhonemoduleUEMMMMMultimediamoduleDIMSUBSubwooferAEMAuxiliaryelectronicATMAntennatunermoduleMOST