CAN (Controller Area Network ) 80- Bosch , . . CAN 5 100 , . CAN , :
1. ( 1 /).
2. .
3. , ( ).
4. .
CAN 2.0 2.0 Bosch. CAN , ISO 11898. ISO (International Standard Organization) . CAN , , , . , CAN , .
CAN. , . : CAN- (). CAN, ( ).
CAN : , , , , . , ISO 11989, CAN ( ), .
. 1 CAN-. , CAN-, TxD RxD . , 0 1, , , CAN_H CAN_L. 108-132 . (-, ) R 120 . , GND. UCC ( UDD) +5 GND ( USS).
CAN ( 0 1) (recessive) (dominant). , , , .
|
|
ISO 11898 UDIFF CAN_H CAN_L .
( 1 TxD ) UDIFF =UCANH UCANL (0,5 0,05 ).
( 0 TxD ) UDIFF (0,9 1,5 ).
, CAN, ( ). , PCA82C250 Philips 110.
. 1. CAN-
CAN. : 94 . CAN- . , . , CAN- , . . CAN- 80 ѻ. , , .
, CAN-, . 4 :
1) (Data Frame), ;
2) (Remote Frame), ;
3) (Error Frame), ;
4) (Overload Frame), Data Frame Remote Frame, , .
. Error Frame Overload Frame, , CAN- . Data Frame Remote Frame .
Data Frame. (Arbitration Field) (Data Field), 8 . (ID), . (CAN 2.0A) 11- , 20348 . (CAN 2.0B) 29- 536 .
Data Frame :
(Start of Frame SOF) , .
(Arbitration Field) 11- ID RTR Remote Transmission Request ( ). .
(Control Field) . . (DLC Data Length Code) .
|
|
(Data Field) .
(CRC Field) (15 ) - .
(ACK Field) . Slot . , , . - .
(EOF End of Frame) .
(EOF) (Intermission Field), . . Intermission Field.
CAN- SOF . , , , - , 00000 11111 (-), .
Remote Frame . Data Frame RTR. .
. CAN . CAN 5 . , .
(CRC Error). 15- CRC . , CRC . ( CRC Field ) . , .
(Acknowledgement Error). ACK Field ( 0). , . ( 1), , .
(Form Error). CAN . , .
(Bit Error). , . , . , ( ) .
- (Stuff Error). CAN - . . 5 , -.
CAN . , Error Frame, ( ). , , .
|
|
. CAN , , . , . , , . . tDEL, tBUS, tTRANSM tRECEIVE. , , - .
ISO 11898 , 1 / CAN 40 . 1 / 9 .
CAN- CiA (CAN in Automation) :
1000 / - 30
500 / - 100
.
50 / - 1000
10 / - 5000
5 / - 10000
CAN:
;
;
;
;
;
, .
:
;
( );
.
. .
: , , , . , . , , , . ().
, .1. , , .
. () , . , , , .
|
|
. , (), (). : , , , . : , , . .
( ). , , .
. , , , , , .. . , -, . . . .
, ( , , ), . , , .
. 1.
, , (), . , , .
() , , , . , . . : , ; ; - , .
: ; , ; , .
. .
|
|
, , , . , , . , , . , .
, , , , .
() . 3-10 .
. - ( ) , . , . , , ( ).
: , ; .
(Simulators) - , . .
(Debuggers) , . , .. () IDE (Integrated Development Environment). MPLAB IDE, Microchip. , , , .
. :
;
;
;
;
;
JTAG-.
() - , () . , , .
, . - . , , , , , . , , . , .
, , , , .
: ; .
(In-Circuit Debugger ICD), , , . , Flash- . , , . , .
, . : ; ; ; ; , .
. , , .
: , , , .
. . .
, , , , . , . , - , , . , , .
, . , . .
, . , , . , , , .
JTAG-. JTAG , . , Texas Instruments (Joint Test Action Group JTAG).
JTAG- , . , JTAG- , . JTAG . , . , . JTAG- . - . JTAG . JTAG- , , , .
JTAG- , , , JTAG-.