CAN总线仲裁退避时间 [英] CAN bus arbitration backoff time

问题描述

我知道CAN总线的仲裁方式。简而言之，其缩写器中具有更多0的CAN节点ID赢得了在总线上发送的仪式，并且其余的竞争节点返回。

但是，在重新尝试赢得总线之前，我没有找到任何的详细信息，多久背部。我咨询了几个消息来源，但仍然找不到答案。任何实验证据？

博世CAN

控制器区域网络简介

解决方案

获胜帧传输后可以自由再试一次并且在CAN帧结束时的中断场中没有发现显性位。您可能会找到一个正式的定义，如果您搜索规格的中间场，参见例如3.1.5旧的（过时的）博世规格您链接。

这里的重要部分是要意识到每个CAN控制器都可以监听每一帧，即使它不感兴趣。这就是您如何实现碰撞避免，而不是碰撞检测。

I am aware of the way CAN bus does its arbitration. In a nutshell the CAN node ID having more '0' 's in its indentifier wins the rite to transmit on the bus and the rest of contending nodes back off.

But i dont find any details of how long the backed out node waits before re-trying to win the bus back. I consulted a few sources but still cant find the answer. Any experimental evidence for this ?

Bosch CAN

Introduction to the Controller Area Network

解决方案

It is free to try again after the winning frame has been transmitted and no dominant bit has been found in the "intermission field" at the end of the CAN frame. You'll probably find a formal definition of this if you search the spec for "intermission field", see for example 3.1.5 of the old (obsolete) Bosch spec you linked.

The important part here is to realize that every CAN controller listens to every single frame, even if it isn't interested in it. This is how you achieve collision avoidance, rather than collision detection.

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