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零佣金炒股APP了解一下

NM报文数据场byte1格式

零佣金炒股APP了解一下

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我用一晚上时间给女朋友讲懂CAN总线的AUTOSAR网络管理

再再再直白一点:各个厂家在五花八门的硬件上随意开发,想怎么写就怎么写,怎么爽怎么来,导致开发一时爽,维护火葬场,如果底层硬件换掉了,上面的代码基本就要全部推倒重来,而且不同厂家之间的代码移植性也几乎没有,各个厂家和工程师都很头大,于是AUTOSAR应运而生。AUTOSAR将各个硬件的底层接口做了封装,以后如果换硬件,只需要配置一下AUTOSAR,告诉它我换硬件了,赶紧给我适配就可以了,上层代码完全不需要改动就可以使用。从开发的角度来讲,提高了代码的复用性,降低了代码的复杂度,提高了代码的可维护性。

2、什么是网络管理?

3、什么是CAN总线?

4、CAN总线的AUTOSAR网络管理报文(以下简称NM报文)长啥样?

此报文ID=0x502,那么它就是一帧NM报文 NM报文数据场

NM报文数据场内容格式

Byte0:这里填的是ECU的地址,或者叫ECU的ID;

NM报文数据场byte1格式

byte2-byte7里的user data数据由用户自行定义。

5、CAN NM状态介绍

睡眠模式(Bus-Sleep Mode):当节点没有本地网络唤醒以及远程唤醒请求时,ECU通讯控制器切换至睡眠模式,ECU功耗降低至适当水平;此模式下,NM报文只收不发,APP报文不收不发,当出现有效唤醒源时必须要被唤醒

预睡眠模式(Prepare Bus-Sleep Mode):这个状态是为了等待总线上的所有节点能够在进入Bus-Sleep Mode之前有时间停止节点的active状态(如清空队列中为发送的报文);此模式下,NM报文只收不发,APP报文不收不发,如果缓冲区有APP报文那可以继续发完;

重复报文状态(Repeat Message State):NM报文可收可发,APP报文可收可发;

正常工作状态(Normal 零佣金炒股APP了解一下 Operation State):NM报文可收可发,APP报文可收可发;

准备睡眠状态(Ready Sleep State):NM报文只收不发,APP报文可收可发;

6、定时器及参数介绍

01:给ECU上电,ECU自己就会初始化进入睡眠模式。如果没有唤醒源来唤醒此节点,那就会一直待在睡眠模式。

02+03:当出现本地唤醒(03)或者远程唤醒(02)时,进入RMS状态。这里再解释下,本地唤醒就是我自己想要主动和其他节点通信;远程唤醒是其他节点想要和我通信。

04:我们现在已经走到网络模式的重复报文子状态了。话说为什么叫重复报文子状态呢,因为在这个状态里的时候,ECU需要一直发送周期报文,来告诉别人:我在线,性感ECU在线陪聊,你再不来找我我就要开始想念你.

如果是走03(本地唤醒)进来的,那么需要先在NM Immediate Transmit State中以很快的周期发送N帧报文(例:以20ms的周期连续发送5帧报文),发完这N帧报文再进入到NM Normal Transmit State中以正常的周期发送报文(例:500ms为周期发送报文。这个在上面的表格里有定义)。如果是直接走02进来的,那么直接以正常周期发送NM报文就可以了。一直发到T_repeat_message定时器超时。

06+12:且慢,我们先来计算一下从BSM到这一步花费了多少时间了。参考上面定时器的定义,在02或03中,最大唤醒时间为T_wake_up=200ms;在04中,T_repeat_message=1600ms。总计1800ms,差不多为2s的时间,此时ECU有可能已经不需要通信了(2019-11-29补充:ECU持续处于唤醒状态的条件是有持续的唤醒源,例如一直有NM报文远程唤醒、或一直有本地唤醒源例如上电)。如果还需要继续通信,走06,进入NOS,继续周期发送NM报文,可以收发APP报文,当不再需要通信了,就停止发送NM报文,等待T_NM_timeout超时之后走09;如果直接不需要通信了,直接走12。

10:收到本地唤醒,进入NOS。

11:收到NM报文的byte1字节的重复请求位如果置1,强制进入RMS。

08+14+05:T_NM_timerout定时器超时,不改变当前状态。定时器需要重置。

13:在RSS状态,NM报文不可以发送。等待T_NM_TIMEOUT定时器超时后进入PBM。

15+16:PBM状态只可以接收NM报文,其他报文不发不收。收到远程唤醒,走15;收到本地唤醒,走16。

17:如果PBM状态收不到任何唤醒源,在T_WAIT_BUS_SLEEP定时器超时后进入BSM。

DUT在RSS状态的时候,如果收到本地唤醒(如KL15电闭合),会走NM11进入RMS状态;那如果收到远程唤醒报文呢?

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