CN101094165A - Method, system, and device for controlling implementation of data transmission in local area network - Google Patents
Method, system, and device for controlling implementation of data transmission in local area network Download PDFInfo
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Abstract
The method comprises: after main node gets data, it resolves the received data, and according to the result of resolving data, established connection with slave node; the main node disassembles the data into the data in fixed length, and sends it to the slave node; after receiving the data, the slave saves the data. The system thereof comprises main node and slave node in control LAN. Said main node comprises a data resolving unit, a data processing unit, a transceiver control unit, a reset control unit; said slave node comprises a data resolving unit, a data processing unit, a transceiver control unit, and a node reset unit.
Description
Technical field
The present invention relates to the computer communication technology field, be meant method, system and the equipment of realizing transfer of data in a kind of control area net especially.
Background technology
Along with the development of industrial control technology, control area net (CAN, Controller AreaNetwork) is rapidly developed.Control area net is the bus type serial communication network that proposes and develop for the data communication that solves between Hyundai Motor middle controller, actuator, monitoring instrument, the transducer the eighties.The CAN network-bus belongs to a kind of of fieldbus, and it adopts the twisted-pair feeder serial communication mode, and error detecing capability is strong, can use in the strong noise interference environment.
Because the CAN serial communication bus has these characteristics, what it was very natural is subjected to extensive use in auto manufacturing and aircraft industry, and nowadays, the CAN bus has become means of communication commonly used between a lot of industrial equipments.
CAN communication protocol has been described between equipment information and how have been transmitted, to the definition and Open Systems Interconnection (OSI, the Open System Interconnection) unanimity of layer.That identical on each layer and another equipment one deck is communicated by letter.Actual communication be occur on each equipment adjacent two-layer, and the only physical medium interconnection by physical layer of equipment.The organization definition of CAN model nethermost two-layer: data link layer and physical layer.Application layer is connected with physical layer by different emerging protocol layers, and these emerging protocol layers mainly are to be specifically designed to special industrial circle to add user-defined any suitable scheme by indivedual CAN.
Because the CAN networks development, the transfer of data between the network node is more and more important.In a CAN network of forming by a plurality of CAN nodes, if the position of each node relatively disperses, and the environment that some node location may be in contaminated environment or be difficult for arriving at, as near the high voltage or height scaffolding, use traditional program means to carry out local update respectively and safeguard very difficulty for processor software on this node.Processor in order to realize the remote online software upgrading for each node all provides a communication link that is used for remote maintenance will cause the big wasting of resources.If can realize the transmission of data such as Miscellaneous Documents, software between the node in the CAN network, the renewal of network node will easier realize.But between existing each node of CAN network, also there is not suitable scheme to realize the transmission of mass data.
Summary of the invention
In view of this, method, system and the equipment of realizing transfer of data is provided to provide in a kind of control area net technical problem solved by the invention, makes the transmission that realizes mass data in the CAN network between the node.
For solving problems of the prior art, the invention provides the method that realizes the node data transmission in a kind of control area net, comprising:
A, host node are resolved obtaining data to be sent;
B, host node and corresponding to parsing connecting of node identification from node;
C, host node are sent to from node after aforementioned data to be sent are split as the data of regular length;
D, receive data after, preserve data from node.
Wherein, resolve among the described step a and be meant: host node obtain these data size, cyclic redundancy check (CRC) result, receive identifying of these data from modal processor.
Wherein, connect among the described step b and comprise:
B31, host node are to transmit size, CRC result, the processor flag information that this sends data from node;
B32, receive from node after, return confirmation and reserved storage space;
B33, host node and from sending acknowledge message between the node.
Wherein, fractionation is meant among the described step c: host node is encapsulated as the data block that the fixed-length data section is formed with the data decomposition of being transmitted, and the data of the not enough data segment of remainder send with a data segment.
Wherein, send among the described step c and be meant:
C51, host node and be connected from the affirmation of setting up the piece transmission between the node one by one;
C52, host node and is connected each data segment of back transmission in each affirmation of setting up the piece transmission from node, if the data segment that is passed is wrong, the correct data segment of information re-transmission that the host node utilization is returned from node.
Wherein, this method further comprises: send the CRC result who obtains to host node after node receives total data, if wrong, host node retransmits this data.
Wherein, preserve in the described steps d and be meant from node the data of receiving are saved in idle space or cover other data.
Realize in a kind of control area net that this method comprises from the node software method for updating:
Host node is resolved the data to be sent that obtain;
Host node with corresponding to parsing connecting of node identification from node;
Host node is sent to from node after aforementioned data to be sent are split as the data of regular length;
After receiving data, preserve data from node;
Receive the reset command of host node from node after, move the data of aforementioned preservation.
Realize the equipment of transfer of data in a kind of control area net, it is characterized in that, comprise data parsing unit, data processing unit, transmitting-receiving control unit, wherein,
The data parsing unit is used for parsing the size from modal processor title, these data, the CRC result who receives these data from the data that sent;
Data processing unit be used for will be sent data split after, be sent to the transmitting-receiving control unit with the data segment encapsulation of regular length;
The transmitting-receiving control unit is used for the data segment after the encapsulation is sent to from node, and response is handled from the message that node sends.
Wherein, this equipment also comprises the control unit that resets,
The control unit that resets is used for to sending reset command from node, and control resets again from node.
Realize the equipment of transfer of data in a kind of control area net, it is characterized in that, comprise data parsing unit, data processing unit, transmitting-receiving control unit, wherein,
Data processing unit is used for being written to the memory and merging from the data that the transmitting-receiving control unit receives;
The data that the transmitting-receiving control unit is used to receive autonomous node to send are sent to data processing unit, the response message after data are received in the host node transmission;
The data parsing unit is used for the data parsing that data processing unit is preserved is gone out size of data, CRC result, and carries out CRC result relatively.
Wherein, this equipment also comprises the node reset unit,
The node reset unit is used for this node that resets again after the transmitting-receiving control unit is received reset message, move new data.
Realize the system of transfer of data in a kind of control area net, this system comprises the control area net host node and from node, it is characterized in that,
Described host node is used for the data parsing that will be sent, utilize after resolving the result with connect from node, the data that sent are split as the data segment of regular length after, be sent to from node,
Described data segment and the preservation that is used to receive autonomous node from node.
Wherein, described from node by receive data CRC result who obtains and the CRC result who comes autonomous node relatively and the result that will compare is sent to host node, and host node determines whether data retransmission according to comparative result.
Wherein, described host node resets after node receives this message to from node sending node reset message, moves corresponding data.
Method host node of the present invention is resolved data to be sent, node identification is corresponding to connect from node with parsing, data to be sent are split as behind the data segment of regular length encapsulated delivery to from node, make and in existing CAN network, realize transfer of data between the master and slave node, for software upgrading from node, adopt method of the present invention transmission to want the data updated file, make be difficult for carrying out software upgrading from node under the arrival environment.
Description of drawings
Fig. 1 is the flow chart of the inventive method;
Fig. 2 is for using the system schematic of the inventive method;
Fig. 3 is the schematic diagram of present device.
Embodiment
Method of the present invention can realize transfer of data between the master and slave node in existing CAN network, be used for others such as existing each software upgrading from node of CAN network node, file transfer.
Describe method of the present invention in detail below in conjunction with Fig. 1.
Step S101: host node is resolved this data after obtaining data;
The mode that host node obtains data can be by these data of network download, also can be saved in the memory in advance.Resolution data mainly is to confirm that receiving identifying from modal processor of these data is the data that belong on which node, and calculates the size and cyclic redundancy check (CRC) (CRC, the Cyclic Redundancy Check) result of file.Wherein, the data that sent have corresponding relation with the node that receives these data, and host node determines to receive the node of these data by the inquiry corresponding relation.
Step S102: the result after the host node utilization is resolved and connects from node;
The result of host node by resolving, to sending the message that data begin from node accordingly, this message structure comprises 8 bytes altogether referring to table 1 in this message, wherein bit 0 (bit0) locates to be least significant bit (LSB, Least Significant Bit), bit7 is highest significant position (MSB, Most Significant Bit), the message attributes that byte 1 expression is sent, byte 2,3, the 4 expression size of data that this transmitted mostly are 16M most.Byte 5 expressions receive the processor flag of these data, 16 CRC check result of byte 7,8 these data of expression.
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | AOH=transmits beginning | |||||||
| 2 | File size-low byte | ||||||||
| 3 | File size-middle byte | ||||||||
| 4 | File size-high byte | Maximum 16M | |||||||
| 5 | Processor selection | Can select different processors | |||||||
| 6 | Keep | ||||||||
| 7 | CRC check result | The CRC16 bit check | |||||||
| 8 | CRC check result | ||||||||
Table 1
After receiving this message from node accordingly, return transmission beginning response message to host node, this message is referring to table 2,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The A1H=transmission begins to reply | |||||||
| 2 | Keep | ||||||||
| 3 | Keep | ||||||||
| 4 | Keep | ||||||||
| 5 | The processor selection validity check | 0=is effective; 1=is invalid | |||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 2
The message that the transmission of returning to host node from node begins to comprise the response message processor validity check, if when processor is invalid, then this sends failure, host node is again to sending transmission beginning message from node and connecting from node and transmit data.
After sending this message from node, reserve the space of corresponding size in memory, this space can be a free space, also can be deletion or covers some other stale data and keep between clearancen.
Deposit the space of these data ready after, send the ready message of transmission from node to host node, this message is referring to table 3,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The A2H=transmission is ready | |||||||
| 2 | The memory erase result | 0=is correct, and 1=is unusual | |||||||
| 3 | Keep | ||||||||
| 4 | Keep | ||||||||
| 5 | Keep | ||||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 3
To transmit ready message from node and be sent to host node, and contain the information that memory space is checked in this message, when this space when being unusual, host node sends transmission beginning message to this from node again and connects and transmit data.
After host node was received this message, to sending the ready response message of transmission from node, this message was referring to table 4,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | A3H=transmits ready replying | |||||||
| 2 | Keep | ||||||||
| 3 | Keep | ||||||||
| 4 | Keep | ||||||||
| 5 | Keep | ||||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 4
Host node is ready for sending piece transmission beginning message after sending this message from node.
Step S103: after host node is split as the data of regular length with the data that sent, be sent to from node;
Host node splits the data that sent, is encapsulated into the data segment of regular length, add the data block sign after, be sent to from node.
At first, host node is to sending the ready message of transmission from node, and this message is referring to table 5,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | A4H=piece transmission beginning | |||||||
| 2 | Data block number (low byte) | ||||||||
| 3 | Data block number (high byte) | ||||||||
| 4 | Total block data (low byte) | ||||||||
| 5 | Total block data (high byte) | ||||||||
| 6 | The data segment number | 1 to 256 | |||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 5
Host node in this message, add the data total block data that sends and the current piece that sends number and the data segment number contained in this piece that sends.
After receiving this message from node, judge in this message whether piece is number effective, the size of record block and judge whether this piece is last piece.Return piece transmission beginning response message from node to host node, this message is referring to table 6,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The transmission of A5H=piece begins to reply | |||||||
| 2 | The piece that receives number | Consistent with the message that receives | |||||||
| 3 | Piece validity check result | 0=is correct, the 1=mistake | |||||||
| 4 | The piece that need to receive number | The piece that wait for to receive from node number | |||||||
| 5 | Keep | ||||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 6
The initial piece that receives increases progressively successively number since 0, adds the current piece that receives number from node the message of returning, and the piece that need to receive number, whether current piece is number effective, if invalid, then host node number sends corresponding data block according to the piece that need receive from node.
After host node was received response message, to transmit the data segment that this data block comprises from node, each data segment comprised 6 from byte content, and data segment transmission message is referring to table 7,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The A6H=data segment transmission | |||||||
| 2 | The data segment number | 0 to 255 | |||||||
| 3 | Data 0 | Low address | |||||||
| 4 | Data 1 | ||||||||
| 5 | Data 2 | ||||||||
| 6 | Data 3 | ||||||||
| 7 | Data 4 | ||||||||
| 8 | Data 5 | High address | |||||||
Table 7
Host node is that 1 data segment is sent to from node with per 6 bytes in the current piece that sends.
Behind data segment of the every transmission of host node, all can receive the data segment transmission response message from node, according to the performed operation of response message decision, under normal circumstances, the flow process of repeating step S103 sends all data segments and data block.When sending data segment of end less than of data, send with a data segment.
The transmission number of times of data segment is relevant with the size of current block, and maximum 256 times, promptly the maximum data piece is 1536 bytes, 256 data segments, and each data segment transmits 6 bytes of data.The data segment number be expressed as 0 to 255, when data block during less than 1536 bytes, the maximum data segment number is that data block length and 6 is divided by, in the time of can dividing exactly, maximum segment number is that the result of being divided by subtracts one, when aliquant, is the result of being divided by.As data block is 60 bytes, and the data available segment number is 0 to 9 totally 10 data segments transmission, and maximum segment number is 9.
Step S104: after node reception data, preserve data.
Whenever after receiving a data segment from node, will send a data segment transmission response message, and preserve data in memory to host node.This message structure is referring to table 8,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The A7H=data segment transmission is replied | |||||||
| 2 | The segment number that receives | Consistent with the message that receives | |||||||
| 3 | Segment number validity check result | 0=is correct, the 1=mistake | |||||||
| 4 | The segment number that needs reception | Wait for the segment number that receives from node | |||||||
| 5 | The data saving result | After last section received, the operating result 0=in the write memory was correct, and 1=is unusual | |||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 8
From node after receiving that at every turn data segment is preserved, the capital sends the data segment response message to host node, and the check result of receiving data segment is sent to host node, comprise the data segment number that current data segment number of receiving and needs receive in this message, judge the segment number received whether wrong and aforementioned decision block number whether wrong mode is identical, initial segment number is since 0, increase progressively successively, if it is wrong, then host node sends corresponding data segment according to the data segment number that needs from node, transmits up to all data segments to finish.
After host node was received the transmission response message, if after this message shows that last data segment receives, be written to when operating result is unusual in the memory, host node rebulid connection, transmits the total data section.
Step S105: host node and from delivery confirmation information between the node.
After transmission finished, host node was to sending the data segment transmission end from node, showed that all data send to finish, and this message is referring to table 9,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The A8H=data segment transmission finishes | |||||||
| 2 | Keep | ||||||||
| 3 | Keep | ||||||||
| 4 | Keep | ||||||||
| 5 | Keep | ||||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 9
After receiving this message from node, obtain CRC check results according to these all data that receive, and this result is sent to host node by end of transmission response message.This message is referring to table 10,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | The A9H=data segment transmission finishes to reply | |||||||
| 2 | CRC check result | 0=is correct, and 1=is unusual | |||||||
| 3 | Keep | ||||||||
| 4 | Keep | ||||||||
| 5 | Keep | ||||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 10
If check results is correct, this sends successfully, if the check results mistake, all data of primary node resends.
Method of the present invention can be in the CAN network host node with from carrying out transfer of data between the node, and others such as software upgrading are applied.
The present invention also provides in a kind of control area net the system that realizes transfer of data, and this system comprises the CAN network host node and from node.
The data that host node can will send by network download, or in advance the data that sent are saved in the memory, institute is sent data to resolve with aforesaid method, with connect from node, the data that sent are split, be sent to from node after being encapsulated as the data segment of regular length, after the end of transmission, according to the CRC that sends from node as a result comparison information determine whether retransmission data.And at preset time to from node sending node reset command, move aforementioned received data from node.
Control the transfer process of whole data as host node, the setting of host node both can be the equipment in the CAN network, was linked in the CAN network as the host node in the CAN network, as portable computer after also miscellaneous equipment can being set at host node again.
Transmission request of data from node real-time response host node, the data that receive can be saved in space idle in the memory, also can cover the corresponding data that other need upgrade with receiving data, and for each received data to host node echo reply information.After Data Receiving finishes,, return confirmation to host node by data computation CRC result.After receiving the reset message of host node, reset again and move corresponding data.
Can in the CAN network, do software upgrading by method and system of the present invention to each node.Referring to Fig. 2,
Contain 201,202,203,204,205 totally 5 CAN network nodes in the supposing the system, wherein, node 201 is set at host node, need do software upgrading from node 202,203,204, and the software that upgrades is different, and host node is stored in advance needs the software data that sends and the corresponding relation of node, as software data 001.bin correspondence from node 202, software data 002.bin corresponding node is from 203, and software data 003.bin correspondence is from node 204.
If to doing software upgrading from node 202, after host node is resolved the 001.bin software data, software that needs by prior storage upgrade and corresponding relation from node, with connect from node 202, method by above-mentioned file transfer is sent to the 001.bin software data from node 202, after node is received data, preserve, and calculating CRC check result is sent to host node.
After if host node is received correct response message, whole renewal process is finished, can be at preset time to carrying out reset operation from node 202 sending node reset messages, and the back that resets is from the new software data of node 202 operations.This node reset message is referring to table 11,
| Byte number | Bit7 MSB | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1 | Bit0 LSB | Explanation |
| 1 | Command word | AAH=node reset message | |||||||
| 2 | Keep | ||||||||
| 3 | Keep | ||||||||
| 4 | Keep | ||||||||
| 5 | Keep | ||||||||
| 6 | Keep | ||||||||
| 7 | Keep | ||||||||
| 8 | Keep | ||||||||
Table 11
The above various types of messages of using in method and system of the present invention also has undefined part in the method for the invention, can add out of Memory as required to realize more function.
The present invention also provides the equipment of realizing transfer of data in two kinds of control area nets, and this equipment has the characteristic of CAN network node, referring to Fig. 3,
Transmitting-receiving control unit 305 is used for the data from data processing unit 304 are sent to from node 306, and response is handled from the message that node 306 sends;
The control unit 302 that resets is used for to sending reset command from node 306, and control resets again from node 306.
Comprise data parsing unit 308, data processing unit 309, transmitting-receiving control unit 310, node reset unit 307 from node device 306, wherein,
The data that transmitting-receiving control unit 310 is used to receive autonomous node 301 to send are sent to data processing unit 309, the response message after data are received in host node 301 transmissions;
For method of the present invention, system and equipment, within the spirit and principles in the present invention all, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (15)
1, realize the method for transfer of data in a kind of control area net, it is characterized in that, comprising:
A, host node are resolved obtaining data to be sent;
B, host node and corresponding to parsing connecting of node identification from node;
C, host node are sent to from node after aforementioned data to be sent are split as the data of regular length;
D, receive data after, preserve data from node.
2, method according to claim 1 is characterized in that, resolves among the described step a to be meant: host node obtain these data size, cyclic redundancy check (CRC) result, receive identifying of these data from modal processor.
3, method according to claim 2 is characterized in that, connecting among the described step b comprises:
B31, host node are to transmit size, CRC result, the processor flag information that this sends data from node;
B32, receive from node after, return confirmation and reserved storage space;
B33, host node and from sending acknowledge message between the node.
4, method according to claim 1, it is characterized in that, split among the described step c and be meant: host node is encapsulated as the data block that the fixed-length data section is formed with the data decomposition of being transmitted, and the data of the not enough data segment of remainder send with a data segment.
5, method according to claim 1 is characterized in that, sends among the described step c to be meant:
C51, host node and be connected from the affirmation of setting up the piece transmission between the node one by one;
C52, host node and is connected each data segment of back transmission in each affirmation of setting up the piece transmission from node, if the data segment that is passed is wrong, the correct data segment of information re-transmission that the host node utilization is returned from node.
6, method according to claim 1 is characterized in that, this method further comprises: send the CRC result who obtains to host node after node receives total data, if wrong, host node retransmits this data.
7, method according to claim 1 is characterized in that, preservation is meant from node the data of receiving are saved in idle space or cover other data in the described steps d.
8, realize in a kind of control area net that this method comprises from the node software method for updating:
Host node is resolved the data to be sent that obtain;
Host node with corresponding to parsing connecting of node identification from node;
Host node is sent to from node after aforementioned data to be sent are split as the data of regular length;
After receiving data, preserve data from node;
Receive the reset command of host node from node after, move the data of aforementioned preservation.
9, realize the equipment of transfer of data in a kind of control area net, it is characterized in that, comprise data parsing unit, data processing unit, transmitting-receiving control unit, wherein,
The data parsing unit is used for parsing the size from modal processor title, these data, the CRC result who receives these data from the data that sent;
Data processing unit be used for will be sent data split after, be sent to the transmitting-receiving control unit with the data segment encapsulation of regular length;
The transmitting-receiving control unit is used for the data segment after the encapsulation is sent to from node, and response is handled from the message that node sends.
10, equipment according to claim 9 is characterized in that, this equipment also comprises the control unit that resets,
The control unit that resets is used for to sending reset command from node, and control resets again from node.
11, realize the equipment of transfer of data in a kind of control area net, it is characterized in that, comprise data parsing unit, data processing unit, transmitting-receiving control unit, wherein,
Data processing unit is used for being written to the memory and merging from the data that the transmitting-receiving control unit receives;
The data that the transmitting-receiving control unit is used to receive autonomous node to send are sent to data processing unit, the response message after data are received in the host node transmission;
The data parsing unit is used for the data parsing that data processing unit is preserved is gone out size of data, CRC result, and carries out CRC result relatively.
12, equipment according to claim 11 is characterized in that, this equipment also comprises the node reset unit,
The node reset unit is used for this node that resets again after the transmitting-receiving control unit is received reset message, move new data.
13, realize the system of transfer of data in a kind of control area net, this system comprises the control area net host node and from node, it is characterized in that,
Described host node is used for the data parsing that will be sent, utilize after resolving the result with connect from node, the data that sent are split as the data segment of regular length after, be sent to from node,
Described data segment and the preservation that is used to receive autonomous node from node.
14, system according to claim 13, it is characterized in that, described from node by receive data CRC result who obtains and the CRC result who comes autonomous node relatively and the result that will compare is sent to host node, and host node determines whether data retransmission according to comparative result.
15, system according to claim 13 is characterized in that, described host node resets after node receives this message to from node sending node reset message, moves corresponding data.
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| CN101572690B (en) * | 2008-04-30 | 2012-07-04 | 十堰科纳汽车电器有限公司 | Transmitting, receiving and network adapters and method for transmitting and receiving LIN frame |
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