CN106059806A - CAN message sending method and device - Google Patents
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- CN106059806A CN106059806A CN201610367619.5A CN201610367619A CN106059806A CN 106059806 A CN106059806 A CN 106059806A CN 201610367619 A CN201610367619 A CN 201610367619A CN 106059806 A CN106059806 A CN 106059806A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/08—Configuration management of networks or network elements
- H04L41/0803—Configuration setting
- H04L41/0823—Configuration setting characterised by the purposes of a change of settings, e.g. optimising configuration for enhancing reliability
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/14—Handling requests for interconnection or transfer
- G06F13/16—Handling requests for interconnection or transfer for access to memory bus
- G06F13/1605—Handling requests for interconnection or transfer for access to memory bus based on arbitration
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L43/00—Arrangements for monitoring or testing data switching networks
- H04L43/08—Monitoring or testing based on specific metrics, e.g. QoS, energy consumption or environmental parameters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/12—Avoiding congestion; Recovering from congestion
- H04L47/125—Avoiding congestion; Recovering from congestion by balancing the load, e.g. traffic engineering
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L47/00—Traffic control in data switching networks
- H04L47/10—Flow control; Congestion control
- H04L47/24—Traffic characterised by specific attributes, e.g. priority or QoS
- H04L47/2458—Modification of priorities while in transit
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
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Abstract
The invention provides a CAN message sending method and a CAN message sending device. The CAN message sending method and the CAN message sending device are applied to a node in a CAN network. The method includes the following steps that: when it is monitored that a CAN bus is an idle state, a first CAN message is sent; when a second CAN message sent by another node is detected, whether a first frame ID field in the first CAN message is smaller than a second frame ID field in the second CAN message is judged; and if the first frame ID field in the first CAN message is smaller than the second frame ID field in the second CAN message, and a bit in the first frame f ID field is the last bit in a locally-saved frame ID field, a third CAN message carrying data is sent, after the third CAN message carrying data is sent successfully, the first priority value of the locally-saved frame ID field is increased; and if the first frame ID field in the first CAN message is not smaller than the second frame ID field in the second CAN message, and the bit in the first frame ID field is the last bit in the locally-saved frame ID field, the number of failures is saved, and a currently-saved first priority value is decreased according to the currently-saved number of failures. With the method and device of the invention adopted, a certain node in the CAN network can be prevented from occupying the CAN bus for a long time.
Description
Technical field
The present invention relates to controller local area network's technical field, particularly relate to a kind of CAN message sender
Method and device.
Background technology
CAN (Controller Area Network, controller local area network) is the most most widely used
One of fieldbus.CAN network can include multiple node, and the structure of CAN network is bus-type, CAN
Each node on network can listen to all communications in CAN.As it is shown in figure 1, this CAN
Network can include node 1, node 2, node 3 ... node n.Wherein, each node is total by CAN
Line is connected, and each node can listen to all communications in CAN.Such as, send when node 1
During CAN message, remaining each node can listen to CAN and be currently at busy condition.
CAN message can include that frame is initial, frame ID and data message etc..In actual applications, appoint
In one moment, CAN network only allow a node take CAN to send CAN message, sometimes
Wait, it is possible to occur that two or more node sends the frame of CAN message and initiates identical, this feelings
Under condition, each node can arbitrate the right to use of CAN according to frame ID, the node that frame ID value is little,
Obtain the right to use.
At present, frame ID only contains address of node, after address of node each in CAN network is fixing,
Especially when number of nodes is more, it is possible to occur that the little node in address obtains the CAN right to use always,
The big node in address can not obtain the usufructuary situation of CAN always.
Summary of the invention
The purpose of the embodiment of the present invention is to provide a kind of CAN message sending method and device, to prevent
In CAN network, certain node takies CAN for a long time.Concrete technical scheme is as follows:
First aspect, embodiments provides a kind of CAN message sending method, is applied to CAN network
In node, described method includes:
When listening to CAN and being in idle condition, send can send for decision-making and carry data
First CAN message of CAN message；
When can the sending for decision-making of other node transmission that detect in described CAN network carry data
The second CAN message of CAN message time, it is judged that the first frame id field in described first CAN message is
No less than the second frame id field in described second CAN message；
If it is, and bit in described first frame id field be last in the local frame id field preserved
One bit, sends the 3rd CAN message carrying data, and after sending successfully, increases this locality and preserve
Frame id field in the first priority value, with when listening to CAN and being in idle condition, according to increasing
Frame id field after great sends the first CAN message；Wherein, the local frame id field preserved also includes node ground
Location, described first priority value is positioned at before described node address；
If it does not, and bit in described first frame id field be in the local frame id field preserved
Latter bit position, the local preservation frequency of failure, according to the current frequency of failure preserved, reduce current preservation
The first priority value, and when listening to CAN and being in idle condition, according to the frame ID after reducing
Field sends the first CAN message.
Second aspect, embodiments provides a kind of CAN message dispensing device, is applied to CAN network
In node, described device includes:
Can sending module, for when listening to CAN and being in idle condition, send and send out for decision-making
Send the first CAN message of the CAN message carrying data；
Can judge module, for decision-making for send when other node detected in described CAN network
When sending the second CAN message of CAN message carrying data, it is judged that the in described first CAN message
Whether one frame id field is less than the second frame id field in described second CAN message；
First processing module, is used for when described judge module judged result is yes, and described first frame id field
In bit when being last bit in the local frame id field preserved, send and carry the of data
Three CAN message, and after sending successfully, increase the first priority value in the frame id field that this locality preserves,
With when listening to CAN and being in idle condition, send a CAN according to the frame id field after increasing
Message；Wherein, the local frame id field preserved also includes that node address, described first priority value are positioned at institute
State before node address；
Second processing module, is used for when described judge module judged result is no, and described first frame ID word
When bit in Duan is last bit in the local frame id field preserved, this locality preserves unsuccessfully
Number of times, according to the current frequency of failure preserved, reduces current the first priority value preserved, and is listening to
When CAN is in idle condition, send the first CAN message according to the frame id field after reducing.
Embodiments provide a kind of CAN message sending method and device, can be according to internodal secondary
Cut out result, dynamically adjust the priority value in the frame id field that respective nodes this locality preserves, to prevent certain from saving
Point takies CAN for a long time.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to enforcement
In example or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, describe below
In accompanying drawing be only some embodiments of the present invention, for those of ordinary skill in the art, do not paying
On the premise of going out creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is CAN network structural representation；
The flow chart of a kind of CAN message sending method that Fig. 2 provides for the embodiment of the present invention；
The structural representation of a kind of CAN message dispensing device that Fig. 3 provides for the embodiment of the present invention.
Detailed description of the invention
In order to prevent certain node in CAN network from taking CAN for a long time, the embodiment of the present invention provides
A kind of CAN message sending method and device.
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clearly
Chu, be fully described by, it is clear that described embodiment be only a part of embodiment of the present invention rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creation
The every other embodiment obtained under property work premise, broadly falls into the scope of protection of the invention.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the feature in embodiment
Can be mutually combined.Describe the present invention below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
In embodiments of the present invention, in order to prevent certain node in CAN network from taking CAN for a long time,
Each node can preserve the priority value of its correspondence in this locality, as can be QoS (Quality of Service,
Service quality).
Wherein, each node is when accessing CAN network, and its priority value preserved can be default initial
Value, when multiple nodes need the right to use arbitrating CAN, the priority that multiple node this locality preserve
Value dynamically can change along with arbitrating successfully or arbitrate failed situation.
For each node, when it sends the CAN message carrying data, the frame ID of this CAN message
Field can include priority value and the node address that this node currently preserves, and priority value is positioned at node ground
Before location.Wherein, the bit that priority value is shared in frame ID can be 3,4,5 etc..
In order to prevent certain node in CAN network from taking CAN for a long time, the embodiment of the present invention provides
A kind of CAN message sending method process, as in figure 2 it is shown, this process comprises the following steps:
Can S201, when listening to CAN and being in idle condition, send send for decision-making and carry
First CAN message of the CAN message of data.
The method that the embodiment of the present invention provides can apply to the node in CAN network.In the embodiment of the present invention
In, for the ease of describing, this node can be referred to as primary nodal point.
In embodiments of the present invention, primary nodal point send for decision-making can send carry data CAN report
Before first CAN message of literary composition, can first intercept whether CAN is in idle condition；If it is,
Then can send the first CAN message.
Wherein, the first CAN message can only include the first frame id field that primary nodal point currently preserves, the
Having 1 bit in one frame id field, this bit is 1 in the frame id field that primary nodal point this locality preserves
Individual bit.Here, the local frame id field preserved can include the first priority value and primary nodal point
Node address, and the first priority value is positioned at before node address.
S202, when can the sending for decision-making of other node transmission that detect in described CAN network be taken
During with the second CAN message of the CAN message of data, it is judged that the first frame ID in described first CAN message
Whether field is less than the second frame id field in described second CAN message；If it is, perform step S203；
Otherwise, step S204 is performed.
Wherein, can only include that this node currently preserves in the second CAN message that other node sends second
Frame id field, has 1 bit in the second frame id field, this bit is the frame that other node this locality preserves
1 bit in id field.Here, the frame id field that other node this locality preserves can include the
The node address of two priority values and other node, and the second priority value is positioned at before this node address.
It should be noted that in embodiments of the present invention, primary nodal point detects whether other node sends second
The process of CAN message, can use existing method, and this process is not repeated by the embodiment of the present invention.
S203, the bit in described first frame id field is last in the local frame id field preserved
During one bit, send the 3rd CAN message carrying data, and after sending successfully, increase this locality and protect
The first priority value in the frame id field deposited, with when listening to CAN and being in idle condition, foundation
Frame id field after increase sends the first CAN message.
When primary nodal point judges that obtaining the first frame id field is less than the second frame id field, and the first frame id field
In bit when being last bit in the local frame id field preserved, illustrate primary nodal point than
To all of bit in the complete local frame field preserved, and comparison result is oneself to have CAN to make
By power.In this case, primary nodal point can send the 3rd CAN message carrying data.
CAN is taken for a long time in order to avoid primary nodal point, after the 3rd CAN message sends successfully, the
One node can increase the first priority value in the frame id field of local preservation, to listen to CAN
When being in idle condition, send the first CAN message according to the frame id field after increasing.Such as, when the 3rd
After CAN message sends successfully, the first priority value that this locality preserves can be added 1 by primary nodal point.
S204, the bit in described first frame id field is last in the local frame id field preserved
During one bit, the local preservation frequency of failure, according to the current frequency of failure preserved, reduce current preservation
The first priority value, and when listening to CAN and being in idle condition, according to the frame ID word after reducing
Section sends the first CAN message.
When primary nodal point judges that obtaining the first frame id field is more than the second frame id field, and the first frame id field
In bit when being last bit in the local frame id field preserved, illustrate that it does not have CAN
The bus right to use.In this case, primary nodal point does not send the CAN message carrying data.
Further, primary nodal point can also preserve the frequency of failure, e.g., the frequency of failure preserved this locality in this locality
Add 1.It is then possible to according to the current frequency of failure preserved, reduce current the first priority value preserved,
As, in advance the relation of the first priority value Yu the frequency of failure can be set to linear inverse relation, thus work as
When the frequency of failure increases, reduce the first priority value.
After reducing current the first priority value preserved, primary nodal point can continue to intercept whether CAN is located
In idle condition；If it is, the first CAN message can be sent according to the frame id field after reducing, and then
Increase it and obtain the usufructuary probability of CAN.
Embodiments provide a kind of CAN message sending method, can according to internodal arbitration result,
Dynamically adjust the priority value in the frame id field that respective nodes this locality preserves, to prevent certain node long-time
Take CAN.
Further, in embodiments of the present invention, primary nodal point, according to the current frequency of failure preserved, subtracts
Little self currently preserve the first priority value time, can determine that first after reduction is excellent according to below equation
First level value is m:
F+Nm<K
Wherein, F is the frequency of failure that primary nodal point currently preserves；N, K are default non-zero natural number；m
For the largest natural number making above-mentioned formula set up.
The first priority value is adjusted, after N, K value is fixing, when primary nodal point is current by above-mentioned formula
When the frequency of failure preserved increases, the first priority value can reduce by index.
And it is possible to by adjusting N, K value, adjust the amplitude of variation of the first priority value.Specifically,
When K value is fixed, and when N value is bigger, the amplitude of variation of the first priority value can be less；When K value is fixed, N value
Time less, the amplitude of variation of the first priority value can be bigger.
Further, in embodiments of the present invention, for the first priority value mistake preventing primary nodal point from preserving
Scope that is big or too small, that can represent beyond priority value, can preset that primary nodal point preserves is first excellent
The scope of first level value, e.g., can set the maximum of the first priority value as first threshold, and minima is the
Two threshold values.
Specifically, after primary nodal point increases the first priority value that this locality preserves, it is it may also be determined that increase
Whether the first priority value after great is more than first threshold, if it is, can be by the first priority after increasing
Value is updated to first threshold.
When primary nodal point is according to the current frequency of failure preserved, after reducing current the first priority value preserved,
It is it may also be determined that whether the first priority value after Jian little ing is less than Second Threshold, if it is, can will reduce
After the first priority value be updated to Second Threshold.
Further, in embodiments of the present invention, after the 3rd CAN message sends successfully, primary nodal point can
With the initial value being updated to preset by the frequency of failure currently preserved, such as 0.
It is appreciated that transmission the 3rd CAN message before primary nodal point, when the frequency of failure is more, its basis
The first priority value that the current frequency of failure preserved determines will be less.It is to say, when primary nodal point with
When other node is simultaneously sent for the CAN message that can decision-making send the CAN message carrying data again,
Primary nodal point obtains the usufructuary probability of CAN can be bigger.
If after the 3rd CAN message sends successfully, the frequency of failure currently preserved is not updated to pre-by primary nodal point
If initial value, its will be still according to the 3rd CAN message send situation preserve bigger value.This situation
Under, the first priority value that primary nodal point may be caused to preserve is the least, thus primary nodal point may president
Time occupies CAN.
Therefore, after the 3rd CAN message of primary nodal point transmission sends successfully, primary nodal point will currently preserve
The frequency of failure be updated to the initial value preset, primary nodal point can be avoided to preserve less first all the time preferential
Level value, avoids primary nodal point further and occupies CAN for a long time.
Corresponding to above method embodiment, the embodiment of the present invention additionally provides corresponding device embodiment.
A kind of CAN message dispensing device that Fig. 3 provides for the embodiment of the present invention, is applied in CAN network
Node, described device includes:
Sending module 310, for when listening to CAN and being in idle condition, sends for decision-making energy
The first CAN message of the CAN message of data is carried in no transmission；
Judge module 320, for when detect that other node in described CAN network sends for decision-making
When can send the second CAN message of the CAN message carrying data, it is judged that in described first CAN message
The first frame id field whether less than the second frame id field in described second CAN message；
First processing module 330, is used for when described judge module judged result is yes, and described first frame ID
When bit in field is last bit in the local frame id field preserved, sends and carry data
The 3rd CAN message, and after sending successfully, increase the first priority in the frame id field that this locality preserves
Value, with when listening to CAN and being in idle condition, sends first according to the frame id field after increasing
CAN message；Wherein, the local frame id field preserved also includes node address, described first priority value position
Before described node address；
Second processing module 340, is used for when described judge module judged result is no, and described first frame ID
When bit in field is last bit in the local frame id field preserved, this locality preserves unsuccessfully
Number of times, according to the current frequency of failure preserved, reduces current the first priority value preserved, and is listening to
When CAN is in idle condition, send the first CAN message according to the frame id field after reducing.
Embodiments provide a kind of CAN message dispensing device, can according to internodal arbitration result,
Dynamically adjust the priority value in the frame id field that respective nodes this locality preserves, to prevent certain node long-time
Take CAN.
Further, described second processing module 340, specifically for according to below equation, after determining reduction
The first priority value be m:
F+Nm<K
Wherein, described F is the frequency of failure of described current preservation；Described N, K are default non-zero natural number；
Described m is the largest natural number making above-mentioned formula set up.
Further, described device also includes:
First more new module (not shown), whether the first priority value after determining increase is more than
First threshold, if it is, the first priority value after increasing is updated to described first threshold.
Further, described device also includes:
Second more new module (not shown), whether the first priority value after determining reduction is less than
Second Threshold, if it is, the first priority value after reducing is updated to described Second Threshold.
Further, described device also includes:
New module (not shown) depth of the night the in of the, for when described 3rd CAN message sends successfully, general
The current frequency of failure preserved is set to the initial value preset.
For device embodiment, owing to it is substantially similar to embodiment of the method, so the comparison described is simple
Single, relevant part sees the part of embodiment of the method and illustrates.
It should be noted that in this article, the relational terms of such as first and second or the like be used merely to by
One entity or operation separate with another entity or operating space, and not necessarily require or imply these
Relation or the order of any this reality is there is between entity or operation.And, term " includes ", " bag
Contain " or its any other variant be intended to comprising of nonexcludability, so that include a series of key element
Process, method, article or equipment not only include those key elements, but also include being not expressly set out
Other key elements, or also include the key element intrinsic for this process, method, article or equipment.?
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including
The process of described key element, method, article or equipment there is also other identical element.
Each embodiment in this specification all uses relevant mode to describe, phase homophase between each embodiment
As part see mutually, what each embodiment stressed is the difference with other embodiments.
For system embodiment, owing to it is substantially similar to embodiment of the method, so the comparison described
Simply, relevant part sees the part of embodiment of the method and illustrates.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit protection scope of the present invention.All
Any modification, equivalent substitution and improvement etc. made within the spirit and principles in the present invention, are all contained in this
In the protection domain of invention.
Claims (10)
1. a CAN message sending method, it is characterised in that described method is applied in CAN network
Node, described method includes:
When listening to CAN and being in idle condition, send can send for decision-making and carry data
First CAN message of CAN message；
When can the sending for decision-making of other node transmission that detect in described CAN network carry data
The second CAN message of CAN message time, it is judged that the first frame id field in described first CAN message is
No less than the second frame id field in described second CAN message；
If it is, and bit in described first frame id field be last in the local frame id field preserved
One bit, sends the 3rd CAN message carrying data, and after sending successfully, increases this locality and preserve
Frame id field in the first priority value, with when listening to CAN and being in idle condition, according to increasing
Frame id field after great sends the first CAN message；Wherein, the local frame id field preserved also includes node ground
Location, described first priority value is positioned at before described node address；
If it does not, and bit in described first frame id field be last in the local frame id field preserved
One bit, the local preservation frequency of failure, according to the current frequency of failure preserved, reduce current preservation
First priority value, and when listening to CAN and being in idle condition, according to the frame id field after reducing
Send the first CAN message.
Method the most according to claim 1, it is characterised in that the failure time that described basis currently preserves
Number, reduces current the first priority value preserved and includes:
According to below equation, determine that the first priority value after reduction is m:
F+Nm<K
Wherein, described F is the frequency of failure of described current preservation；Described N, K are default non-zero natural number；
Described m is the largest natural number making above-mentioned formula set up.
Method the most according to claim 1, it is characterised in that the frame ID word that described increase this locality preserves
After the first priority value in Duan, described method also includes:
Determine whether the first priority value after increase is more than first threshold, if it is, first after increasing
Priority value is updated to described first threshold.
Method the most according to claim 1, it is characterised in that the failure time that described basis currently preserves
Number, after reducing current the first priority value preserved, described method also includes:
Determine whether the first priority value after reduction is less than Second Threshold, if it is, first after reducing
Priority value is updated to described Second Threshold.
5. according to the method described in any one of claim 1-4, it is characterised in that data are carried in described transmission
The 3rd CAN message after, described method also includes:
When sending successfully, the frequency of failure currently preserved is updated to the initial value preset.
6. a CAN message dispensing device, it is characterised in that described device is applied in CAN network
Node, described device includes:
Can sending module, for when listening to CAN and being in idle condition, send and send out for decision-making
Send the first CAN message of the CAN message carrying data；
Can judge module, for decision-making for send when other node detected in described CAN network
When sending the second CAN message of CAN message carrying data, it is judged that the in described first CAN message
Whether one frame id field is less than the second frame id field in described second CAN message；
First processing module, is used for when described judge module judged result is yes, and described first frame id field
In bit when being last bit in the local frame id field preserved, send and carry the of data
Three CAN message, and after sending successfully, increase the first priority value in the frame id field that this locality preserves,
With when listening to CAN and being in idle condition, send a CAN according to the frame id field after increasing
Message；Wherein, the local frame id field preserved also includes that node address, described first priority value are positioned at institute
State before node address；
Second processing module, is used for when described judge module judged result is no, and described first frame id field
In bit when being last bit in the local frame id field preserved, local preserve the frequency of failure,
According to the current frequency of failure preserved, reduce current the first priority value preserved, and total listening to CAN
When line is in idle condition, send the first CAN message according to the frame id field after reducing.
Device the most according to claim 6, it is characterised in that described second processing module, specifically uses
According to below equation, determine that the first priority value after reduction is m:
F+Nm<K
Wherein, described F is the frequency of failure of described current preservation；Described N, K are default non-zero natural number；
Described m is the largest natural number making above-mentioned formula set up.
Device the most according to claim 6, it is characterised in that described device also includes:
First more new module, whether the first priority value after determining increase is more than first threshold, if
It is that the first priority value after increasing is updated to described first threshold.
Device the most according to claim 6, it is characterised in that described device also includes:
Second more new module, whether the first priority value after determining reduction is less than Second Threshold, if
It is that the first priority value after reducing is updated to described Second Threshold.
10. according to the device described in any one of claim 6-9, it is characterised in that described device also includes:
The new module depth of the night in of the, for when described 3rd CAN message sends successfully, the failure that will currently preserve
Number of times is set to the initial value preset.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108234265A (en) * | 2018-01-04 | 2018-06-29 | 淄博职业学院 | A kind of campus network gateway subsystem based on CAN bus mode |
| CN109561005A (en) * | 2017-09-26 | 2019-04-02 | 湖南中车时代电动汽车股份有限公司 | A kind of CAN bus network-building method and the data transmission system based on CAN bus |
| CN111682992A (en) * | 2020-06-03 | 2020-09-18 | 西安奇维科技有限公司 | Serial bus design method of dynamic priority |
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