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1、CANprotocolM.J.SchofieldTheCANprotocolisaninternationalstandarddefinedintheISO11898.BesidetheCANprotocolitselftheconformancetestfortheCANprotocolisdefinedintheISO16845,whichguaranteestheinterchangeabilityoftheCANchips.LPrinciplesofdataexchangeCANisbasedonthe“broadcastcommunicationmechanism”，

2、whichisbasedonamessage-orientedtransmissionprotocol.Itdefinesmessagecontentsratherthanstationsandstationaddresses.Everymessagehasamessageidentifier，whichisuniquewithinthewholenetworksinceitdefinescontentandalsothepriorityofthemessage.Thisisimportantwhenseveralstationscompeteforbusaccess(busa

3、rbitration).Asaresultofthecontent-orientedaddressingschemeahighdegreeofsystemandconfigurationflexibilityisachieved.ItiseasytoaddstationstoanexistingCANnetworkwithoutmakinganyhardwareorsoftwaremodificationstothepresentstationsaslongasthenewstationsarepurelyreceivers.Thisallowsforamodularconce

4、ptandalsopermitsthereceptionofmultipledataandthesynchronizationofdistributedprocesses.Also，datatransmissionisnotbasedontheavailabilityofspecifictypesofstations，whichallowssimpleservicingandupgradingofthenetwork.CANStation1(Consumer)CANStation2(Producer)CANStation3(Consumer)CANStation4(Consum

5、er)O2002CfWmftxo(notK)c.TS2.Real-timedatatransmissionInreal-timeprocessingtheurgencyofmessagestobeexchangedoverthenetworkcandiffergreatly:arapidlychangingdimension,e.g.engineload，hastobetransmittedmorefrequentlyandthereforewithlessdelaysthanotherdimensions，e.g.enginetemperature.Thepriority,a

6、twhichamessageistransmittedcomparedtoanotherlessurgentmessage,isspecifiedbytheidentifierofeachmessage.Theprioritiesarelaiddownduringsystemdesignintheformofcorrespondingbinaryvaluesandcannotbechangeddynamically.Theidentifierwiththelowestbinarynumberhasthehighestpriority.Busaccessconflictsarer

7、esolvedbybit-wisearbitrationoftheidentifiersinvolvedbyeachstationobservingthebuslevelbitforbit.Thishappensinaccordancewiththewired-and-mechanism，bywhichthedominantstateoverwritestherecessivestate.Allthosestations(nodes)withrecessivetransmissionandd