BOSCH_CAN_V20_spec.pdf.rar_can 协议_单片机开发_嵌入式/单片机/硬件编程下载-pudn.com

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6254847b47503a0a93b3560b/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6254847b47503a0a93b3560b/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> BOSCH</div><div class="t m0 x2 h3 y2 ff1 fs1 fc0 sc0 ls1 ws1">CAN Specification</div><div class="t m0 x3 h4 y3 ff1 fs2 fc0 sc0 ls2 ws2">Version 2.0</div><div class="t m0 x4 h5 y4 ff1 fs3 fc0 sc0 ls3 ws3">1991, Robert Bosch GmbH, Postfach 30 02 40, D-70442 Stuttgart</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6254847b47503a0a93b3560b/bg2.jpg"><div class="t m0 x1 h3 y5 ff1 fs1 fc0 sc0 ls1 ws4">BOSCH</div><div class="t m0 x5 h6 y6 ff1 fs4 fc0 sc0 ls4 ws5">ROBERT BOSCH GmbH, Postfach 30 02 40, D-70442 Stuttgart</div><div class="t m0 x6 h5 y7 ff1 fs3 fc0 sc0 ls5 ws6">Sep. 1991</div><div class="t m0 x7 h5 y8 ff1 fs3 fc0 sc0 ls6 ws7">page 1</div><div class="t m0 x8 h4 y9 ff1 fs2 fc0 sc0 ls7 ws8">Recital</div><div class="t m0 x1 h7 ya ff2 fs3 fc0 sc0 ls3 ws9">The acceptance and introduction of serial communication to more and more</div><div class="t m0 x1 h7 yb ff2 fs3 fc0 sc0 ls8 wsa">applications has led to requirements that the assignment of message identifiers to</div><div class="t m0 x1 h7 yc ff2 fs3 fc0 sc0 ls8 wsb">communication functions be standardized for certain applications. These applications</div><div class="t m0 x1 h7 yd ff2 fs3 fc0 sc0 ls8 wsb">can be realized with CAN more comfortably, if the address range that originally has</div><div class="t m0 x1 h7 ye ff2 fs3 fc0 sc0 ls8 wsc">been defined by 11 identifier bits is enlarged</div><div class="t m0 x1 h7 yf ff3 fs3 fc0 sc0 ls8 wsd">Therefore a second message format (’extended format’) is introduced that provides a</div><div class="t m0 x1 h7 y10 ff3 fs3 fc0 sc0 ls8 wse">larger address range defined by 29 bits. This will relieve the system designer from</div><div class="t m0 x1 h7 y11 ff3 fs3 fc0 sc0 ls8 wsd">compromises with respect to defining well-structured naming schemes. Users of CAN</div><div class="t m0 x1 h7 y12 ff3 fs3 fc0 sc0 ls3 wsf">who do not need the identifier range offered by the extended format, can rely on the</div><div class="t m0 x1 h7 y13 ff3 fs3 fc0 sc0 ls3 ws10">conventional 11 bit identifier range (’standard format’) further on. In this case they can</div><div class="t m0 x1 h7 y14 ff3 fs3 fc0 sc0 ls3 ws11">make use of the CAN implementations that are already available on the market, or of</div><div class="t m0 x1 h7 y15 ff3 fs3 fc0 sc0 ls8 wsc">new controllers that implement both formats.</div><div class="t m0 x1 h7 y16 ff3 fs3 fc0 sc0 ls8 wsd">In order to distinguish standard and extended format the first reserved bit of the CAN</div><div class="t m0 x1 h7 y17 ff3 fs3 fc0 sc0 ls8 ws12">message format, as it is defined in CAN Specification 1.2, is used. This is done in such</div><div class="t m0 x1 h7 y18 ff3 fs3 fc0 sc0 ls8 ws13">a way that the message format in CAN Specification 1.2 is equivalent to the standard</div><div class="t m0 x1 h7 y19 ff3 fs3 fc0 sc0 ls3 ws14">format and therefore is still valid. Furthermore, the extended format has been defined</div><div class="t m0 x1 h7 y1a ff3 fs3 fc0 sc0 ls8 ws15">so that messages in standard format and extended format can coexist within the same</div><div class="t m0 x1 h7 y1b ff3 fs3 fc0 sc0 ls9 ws15">network.</div><div class="t m0 x1 h7 y1c ff3 fs3 fc0 sc0 lsa ws16">This CAN Specification consists of two parts, with</div><div class="t m0 x1 h7 y1d ff3 fs3 fc0 sc0 ls8 wsc">• Part A describing the CAN message format as it is defined in CAN Specification 1.2;</div><div class="t m0 x1 h7 y1e ff3 fs3 fc0 sc0 ls8 wsc">• Part B describing both standard and extended message formats.</div><div class="t m0 x1 h7 y1f ff3 fs3 fc0 sc0 ls3 ws17">In order to be compatible with this CAN Specification 2.0 it is required that a CAN</div><div class="t m0 x1 h7 y20 ff3 fs3 fc0 sc0 ls3 ws3">implementation be compatible with either Part A or Part B.</div><div class="t m0 x1 h7 y21 ff3 fs3 fc0 sc0 lsb ws3">Note</div><div class="t m0 x1 h7 y22 ff3 fs3 fc0 sc0 ls8 ws18">CAN implementations that are designed according to part A of this or according to</div><div class="t m0 x1 h7 y23 ff3 fs3 fc0 sc0 ls8 ws12">previous CAN Specifications, and CAN implementations that are designed according to</div><div class="t m0 x1 h7 y24 ff3 fs3 fc0 sc0 ls8 ws15">part B of this specification can communicate with each other as long as it is not made</div><div class="t m0 x1 h7 y25 ff3 fs3 fc0 sc0 ls3 ws3">use of the extended format.</div><div class="t m0 x9 h8 y26 ff1 fs5 fc0 sc0 lsc ws19">CAN Specification 2.0</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>

<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6254847b47503a0a93b3560b/bg4.jpg"><div class="t m0 x1 h3 y5 ff1 fs1 fc0 sc0 ls1 ws4">BOSCH</div><div class="t m0 xb h6 y6 ff1 fs4 fc0 sc0 lse ws1a">ROBERT BOSCH GmbH, Postfach 30 02 40, D-70442 Stuttgart</div><div class="t m0 x6 h5 y7 ff1 fs3 fc0 sc0 lsf ws6">Sep. 1991</div><div class="t m0 xc h5 y8 ff1 fs3 fc0 sc0 ls10 ws1b">Part A - page 3</div><div class="t m0 x1 h7 y28 ff2 fs3 fc0 sc0 ls11 ws1b">1 INTRODUCTION................................................................................4</div><div class="t m0 x1 h7 y29 ff2 fs3 fc0 sc0 ls11 ws4">2 BASIC CONCEPTS............................................................................5</div><div class="t m0 x1 h7 y2a ff2 fs3 fc0 sc0 ls11 ws4">3 MESSAGE TRANSFER .....................................................................10</div><div class="t m0 x1 h7 y2b ff2 fs3 fc0 sc0 ls11 ws4">3.1 Frame Types ......................................................................................10</div><div class="t m0 x1 h7 y2c ff2 fs3 fc0 sc0 ls11 ws4">3.1.1 DATA FRAME ....................................................................................10</div><div class="t m0 x1 h7 y2d ff2 fs3 fc0 sc0 ls11 ws1c">3.1.2 REMOTE FRAME ..............................................................................15</div><div class="t m0 x1 h7 y2e ff2 fs3 fc0 sc0 ls11 ws4">3.1.3 ERROR FRAME.................................................................................16</div><div class="t m0 x1 h7 y2f ff2 fs3 fc0 sc0 ls11 ws4">3.1.4 OVERLOAD FRAME..........................................................................17</div><div class="t m0 x1 h7 y30 ff2 fs3 fc0 sc0 ls11 ws1c">3.1.5 INTERFRAME SPACING...................................................................18</div><div class="t m0 x1 h7 y31 ff2 fs3 fc0 sc0 ls11 ws4">3.2 Definition of TRANSMITTER/RECEIVER ..........................................20</div><div class="t m0 x1 h7 y32 ff2 fs3 fc0 sc0 ls11 ws4">4 MESSAGE VALIDATION ...................................................................21</div><div class="t m0 x1 h7 y33 ff2 fs3 fc0 sc0 ls11 ws4">5 CODING.............................................................................................22</div><div class="t m0 x1 h7 y34 ff2 fs3 fc0 sc0 ls11 ws4">6 ERROR HANDLING...........................................................................23</div><div class="t m0 x1 h7 y35 ff2 fs3 fc0 sc0 ls11 ws4">6.1 Error Detection ...................................................................................23</div><div class="t m0 x1 h7 y36 ff2 fs3 fc0 sc0 ls11 ws4">6.2 Error Signalling...................................................................................23</div><div class="t m0 x1 h7 y37 ff2 fs3 fc0 sc0 ls11 ws4">7 FAULT CONFINEMENT.....................................................................24</div><div class="t m0 x1 h7 y38 ff2 fs3 fc0 sc0 ls11 ws4">8 BIT TIMING REQUIREMENTS ..........................................................27</div><div class="t m0 x1 h7 y39 ff2 fs3 fc0 sc0 ls12 ws1d">9 INCREASING CAN OSCILLATOR TOLERANCE..............................31</div><div class="t m0 x1 h7 y3a ff2 fs3 fc0 sc0 ls11 ws4">9.1 Protocol Modifications ........................................................................31</div><div class="t m0 xd h8 y26 ff1 fs5 fc0 sc0 lsa ws4">Contents</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>

<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6254847b47503a0a93b3560b/bg5.jpg"><div class="t m0 x1 h3 y5 ff1 fs1 fc0 sc0 ls1 ws4">BOSCH</div><div class="t m0 xb h6 y6 ff1 fs4 fc0 sc0 lse ws1a">ROBERT BOSCH GmbH, Postfach 30 02 40, D-70442 Stuttgart</div><div class="t m0 x6 h5 y7 ff1 fs3 fc0 sc0 lsf ws6">Sep. 1991</div><div class="t m0 xc h5 y8 ff1 fs3 fc0 sc0 ls10 ws1b">Part A - page 4</div><div class="t m0 x1 h8 y3b ff1 fs5 fc0 sc0 lsa ws1e">1 INTRODUCTION</div><div class="t m0 x1 h7 y3c ff2 fs3 fc0 sc0 ls3 ws1f">The Controller Area Network (CAN) is a serial communications protocol which</div><div class="t m0 x1 h7 y3d ff2 fs3 fc0 sc0 ls8 wsc">efficiently supports distributed realtime control with a very high level of security.</div><div class="t m0 x1 h7 y3e ff2 fs3 fc0 sc0 ls8 ws20">Its domain of application ranges from high speed networks to low cost multiplex wiring.</div><div class="t m0 x1 h7 y3f ff2 fs3 fc0 sc0 ls8 ws21">In automotive electronics, engine control units, sensors, anti-skid-systems, etc. are</div><div class="t m0 x1 h7 y40 ff2 fs3 fc0 sc0 ls8 ws22">connected using CAN with bitrates up to 1 Mbit/s. At the same time it is cost effective to</div><div class="t m0 x1 h7 y41 ff2 fs3 fc0 sc0 ls8 wsd">build into vehicle body electronics, e.g. lamp clusters, electric windows etc. to replace</div><div class="t m0 x1 h7 y42 ff2 fs3 fc0 sc0 ls3 ws3">the wiring harness otherwise required.</div><div class="t m0 x1 h7 y43 ff2 fs3 fc0 sc0 lsa ws23">The intention of this specification is to achieve compatibility between any two CAN</div><div class="t m0 x1 h7 y44 ff2 fs3 fc0 sc0 ls8 ws15">implementations. Compatibility, however, has different aspects regarding e.g. electrical</div><div class="t m0 x1 h7 y45 ff2 fs3 fc0 sc0 ls8 ws24">features and the interpretation of data to be transferred. To achieve design</div><div class="t m0 x1 h7 y46 ff2 fs3 fc0 sc0 ls8 ws21">transparency and implementation flexibility CAN has been subdivided into different</div><div class="t m0 x1 h7 y47 ff2 fs3 fc0 sc0 ls12 ws21">layers.</div><div class="t m0 x1 h7 y48 ff3 fs3 fc0 sc0 ls3 ws3">• the (CAN-) object layer</div><div class="t m0 x1 h7 y49 ff3 fs3 fc0 sc0 ls8 wsc">• the (CAN-) transfer layer</div><div class="t m0 x1 h7 y17 ff3 fs3 fc0 sc0 ls12 ws1d">• the physical layer</div><div class="t m0 x1 h7 y4a ff3 fs3 fc0 sc0 ls8 ws13">The object layer and the transfer layer comprise all services and functions of the data</div><div class="t m0 x1 h7 y4b ff3 fs3 fc0 sc0 ls8 wsc">link layer defined by the ISO/OSI model. The scope of the object layer includes</div><div class="t m0 x1 h7 y4c ff3 fs3 fc0 sc0 ls8 wsc">• finding which messages are to be transmitted</div><div class="t m0 x1 h7 y4d ff3 fs3 fc0 sc0 ls8 wsc">• deciding which messages received by the transfer layer are actually to be used,</div><div class="t m0 x1 h7 y4e ff3 fs3 fc0 sc0 ls3 ws3">• providing an interface to the application layer related hardware.</div><div class="t m0 x1 h7 y36 ff3 fs3 fc0 sc0 ls3 ws17">There is much freedom in defining object handling. The scope of the transfer layer</div><div class="t m0 x1 h7 y4f ff3 fs3 fc0 sc0 ls3 ws11">mainly is the transfer protocol, i.e. controlling the framing, performing arbitration, error</div><div class="t m0 x1 h7 y50 ff3 fs3 fc0 sc0 ls11 ws25">checking, error signalling and fault confinement. Within the transfer layer it is decided</div><div class="t m0 x1 h7 y37 ff3 fs3 fc0 sc0 ls11 ws26">whether the bus is free for starting a new transmission or whether a reception is just</div><div class="t m0 x1 h7 y51 ff3 fs3 fc0 sc0 ls11 ws27">starting. Also some general features of the bit timing are regarded as part of the</div><div class="t m0 x1 h7 y52 ff3 fs3 fc0 sc0 ls3 ws28">transfer layer. It is in the nature of the transfer layer that there is no freedom for</div><div class="t m0 x1 h7 y38 ff3 fs3 fc0 sc0 ls11 ws28">modifications.</div><div class="t m0 x1 h7 y53 ff3 fs3 fc0 sc0 ls11 wsd">The scope of the physical layer is the actual transfer of the bits between the different</div><div class="t m0 x1 h7 y54 ff3 fs3 fc0 sc0 ls11 ws20">nodes with respect to all electrical properties. Within one network the physical layer, of</div><div class="t m0 x1 h7 y39 ff3 fs3 fc0 sc0 ls11 ws26">course, has to be the same for all nodes. There may be, however, much freedom in</div><div class="t m0 x1 h7 y55 ff3 fs3 fc0 sc0 ls12 ws1d">selecting a physical layer.</div><div class="t m0 x1 h7 y56 ff3 fs3 fc0 sc0 ls8 ws15">The scope of this specification is to define the transfer layer and the consequences of</div><div class="t m0 x1 h7 y57 ff3 fs3 fc0 sc0 ls8 wsc">the CAN protocol on the surrounding layers.</div><div class="t m0 xe h8 y26 ff1 fs5 fc0 sc0 lsc ws29">Introduction</div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>