CN107147657A - Suitable for the communication protocol of multimachine reliable communication, decoding method and communication apparatus - Google Patents
Suitable for the communication protocol of multimachine reliable communication, decoding method and communication apparatus Download PDFInfo
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- CN107147657A CN107147657A CN201710399480.7A CN201710399480A CN107147657A CN 107147657 A CN107147657 A CN 107147657A CN 201710399480 A CN201710399480 A CN 201710399480A CN 107147657 A CN107147657 A CN 107147657A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/03—Protocol definition or specification
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0006—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format
- H04L1/0007—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission format by modifying the frame length
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
- H04L1/0056—Systems characterized by the type of code used
- H04L1/0061—Error detection codes
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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
- H04L12/40006—Architecture of a communication node
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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
Abstract
The invention discloses a kind of communication protocol suitable for multimachine reliable communication, the frame that the frame format of described communications protocol includes being arranged in order according to order from front to back starts field, frame header fields, Load field, check field and trailer field；Wherein, described frame header fields include frame type field, source address field, DAF destination address field, payload length field and the function code field being arranged in order according to order from front to back；Described Load field is expressed as multiple continuous data type fields according to load contents, forms support structures model.Frame header fields of the present invention include source address field and DAF destination address field, it is adaptable to many communication between devices.Data framing and parsing efficiency are effectively improved using support structures model.Frame header fields include frame type field, can carry out classification parsing to load data by frame type when frame is parsed, effectively improve the readability and maintainability of code.
Description
Technical field
The present invention relates to the decoding method that relevant agreement in communication and control field is formulated, specially one kind is applied to many
The communication protocol decoding method of machine reliable communication.
Background technology
Communication protocol is to need to reach a kind of agreement between communication equipment, and it is to including data format, transfer rate, synchronization side
The problems such as formula, verification mode and function character functional character are defined makes Uniform provisions, must be observed jointly in communication between devices.In reality
In the communications applications of border, if lacking a reasonable, strict, communication protocol for specification, it will be unable to ensure the correctness of data transfer
With the reliability of communication.The form that the data content typically transmitted is defined as byte is organized in protocol frame, and in frame from
Front to back is arranged in order.Traditional frame coded format is simple, generally comprises：Start-stop marker bit, data length, function code, data,
Verification and end mark position, are adapted between host computer and slave computer more and communicate, it is impossible to meet the communication needs between many equipment.
In addition, only recognizing the frame function by function code in during traditional frame decoding, content frame is not classified, causes code readable
Property difference is unfavorable for code maintenance and upgrading.
The content of the invention
For the deficiency of conventional frame decoding method, the problem of present invention is intended to solve is to provide a kind of be applied between multimachine
The low error rate communication protocol decoding method for possessing content frame classification of reliable communication.This method frame head part is with including source
Frame data can be carried out classification solution by location, destination address and frame type, it is adaptable to multi-computer communication when being parsed with time frame by frame type
Analysis, code readability is easy to safeguard and upgraded by force.In addition, this method uses cyclic redundancy calibrating mode, it is ensured that data transfer is missed
Code check low communication process is reliable.
The present invention solve the technical problem the technical scheme adopted is that
A kind of communication protocol suitable for multimachine reliable communication, the frame format of described communications protocol is included according to the past extremely
The frame that order afterwards is arranged in order starts field, frame header fields, Load field, check field and trailer field；Wherein, it is described
Frame header fields include the frame type field being arranged in order according to order from front to back, source address field, DAF destination address field, negative
Carry length field and function code field；Described Load field is expressed as multiple continuous data type fields according to load contents,
Form support structures model.
The fixed value that frame starts field and trailer field is two to three bytes；Described check field is two bytes
Cyclic redundancy check value, participates in the data of verification from frame type field to Load field.
Described payload length field is the data of a byte length, is defined as payload length value, and the value is tied for load
The length of structure model；Function code field is the frame identification code transmission path different to identify of two byte lengths, direction and
Frame type.
Data type is char types, short types, fool types, int types or self-defined structure body type.
Frame type field is a byte length, to mark data frame type, command frame type or acknowledgement frame type.
The decoding method of the described communication protocol suitable for multimachine reliable communication, it is characterised in that including following step
Suddenly, framing cataloged procedure and frame resolving,
Described framing cataloged procedure includes,
Load step, by the load data of transmission according to support structures model successively assignment, payload length is continuous
The total length of type field is the length of support structures model；
Frame head packing step, data transmitting equipment, which creates byte arrays buffering area, to be used to store transmission data frame, is followed successively by
Each field contents assignment of frame header fields is simultaneously loaded into transmission data buffer area, completes frame head packing；
Complete transmission frame packing step, with reference to frame type field to Load field, calculating obtains cyclic redundancy check value, will
Load contents, check code and trailer field are loaded into transmission data buffer area, complete the packing of complete transmission frame；Finally load hair
Data buffer zone is sent, framing cataloged procedure is completed；
Frame resolving includes,
Lead code filtration step：Create and receive data byte array buffering area, lead code filtering, inspection are carried out to receiving data
Packet validity is surveyed,
Filtration step：Frame head data is extracted, destination address is filtered successively, frame type is filtered, abstraction function code,
Analyzing step：Carry out frame function code adaptation, the load data analytical function of entered function code matching, with reference to the function
In support structures model, complete load data parsing.
Also include support structures model definition step in described load step, it is defined for the load contents sent
Support structures model, the support structures model is multiple continuous data type fields that load contents are expressed as.
A kind of communication apparatus using described communication protocol, including data/address bus and multiple total by described data
The equipment of line communication connection, described equipment includes framing coding module and frame parsing module respectively,
Described framing coding module includes,
Load submodule, to by the load data of transmission according to support structures model successively assignment, payload length
For continuous type field total length be support structures model length；
Frame head packing submodule, creating byte arrays buffering area to data transmitting equipment is used to store transmission data frame,
It is followed successively by each field contents assignment of frame header fields and is loaded into transmission data buffer area, completes frame head packing；
Complete transmission frame packing submodule, to combine frame type field to Load field, calculating obtains cyclic redundancy school
Value is tested, load contents, check code and trailer field are loaded into transmission data buffer area, the packing of complete transmission frame is completed；Most
Load afterwards and send data buffer zone, complete framing cataloged procedure；
Frame parsing module includes,
Lead code filter submodule, data byte array buffering area is received to create, and lead code is carried out to receiving data
Filtering, detects packet validity,
Filter submodule, to extract frame head data, filters to destination address, frame type is filtered, abstraction function successively
Code,
Analyzing sub-module, to carry out frame function code adaptation, the load data analytical function of entered function code matching, with reference to
Support structures model in the function, completes load data parsing.
Also include support structures definition module in described load submodule, it is in the load for transmission
Hold and define support structures model, the support structures model is multiple continuous data type fields that load contents are expressed as.
Many equipment rooms are combined when being communicated between communication, Can buses using Can bus communications or Can buses with serial ports, Suo Youshe
Standby to be hung over by Can mouthfuls in Can buses, destination address and source address are used as the CanID in bus, communication between devices in Frame Protocol
When by CanID identify whether for oneself equipment processing data, if it is carry out data unpacking processing；
With reference to when communicating between serial ports and Can buses, serial ports receives and raw address and destination address is parsed after data, is formed
CanID, that is, be linked to the device address in Can buses, then transmits this data in Can buses, is identified whether by CanID
For the data of oneself equipment processing, data unpacking processing is if it is carried out.
Compared with prior art, good effect of the present invention suitable for the communication protocol decoding method of multimachine reliable communication
It is：
1st, frame header fields include source address field and DAF destination address field, it is adaptable to many communication between devices.
2nd, data framing and parsing efficiency are effectively improved using support structures model.
3rd, frame header fields include frame type field, and classification parsing can be carried out to load data by frame type when frame is parsed,
Effectively improve the readability and maintainability of code.
4th, using cyclic redundancy calibrating mode, it is ensured that the low error rate of data transmission high communication quality.
Brief description of the drawings
The frame format that Fig. 1 is used for the present invention suitable for the communication protocol decoding method of multimachine reliable communication, wherein A
Part is frame head part, and payload length value is support structures model length size.
Fig. 2 is communication protocol decoding method load contents and support structures mould of the present invention suitable for multimachine reliable communication
Type is for relation.
Fig. 3 is applied to the communication protocol decoding method multi-computer communication schematic diagram of multimachine reliable communication for the present invention.
Fig. 4 is communication protocol decoding method framing coding flow chart of the present invention suitable for multimachine reliable communication.
Fig. 5 is applied to the communication protocol decoding method frame process of analysis figure of multimachine reliable communication for the present invention.
Embodiment
Below with reference to the accompanying drawings embodiments of the invention are described.
A kind of communication protocol suitable for multimachine reliable communication, frame format is included and is arranged in order according to order from front to back
Frame start field, frame header fields, Load field, check field and trailer field；Wherein, frame starts field and trailer field is
The fixed value of two to three bytes；Frame header fields include the frame type field being arranged in order according to order from front to back, source
Location field, DAF destination address field, payload length field and function code field；
Wherein, Load field is expressed as multiple continuous data type fields according to load contents, forms support structures model,
Support structures model is generally each load class in the structure of user-defined multiple different types of data compositions, structure
Type-word section continuous arrangement.After support structures model is determined, data sender and recipient are required for defining support structures model, number
Assignment is carried out for each field contents of support structures model according to sender, data receiver is needed fully according to support structures mould
The order of type is parsed to load contents；The presence of support structures model can effectively improve data framing and parsing efficiency.
Described check field is the cyclic redundancy check value of two bytes, participate in the data of verification from frame type field to
Load field；Frame type field is the different frame types value of a byte, such as data frame, command frame or acknowledgement frame；Frame type
Field is different from frame identification code and destination address, and it is the classification to data loadtype, data parsing time frame type parsing position
After destination address parsing, before the parsing of frame identification code.The presence of frame type makes different type, such as order, data or response
Deng load carry out classification parsing, the readability and the maintenance iteration of code of data parsing are effectively increased with legacy protocol compared with
Property.
Source address field is the data of a byte length, is defined as sender device address mark, distinct device address
Mark is unique；DAF destination address field is the data of a byte length, is defined as receiver equipment address and identifies, distinct device
Location mark is unique；Payload length field is the data of a byte length, is defined as payload length value, and the value is support structures mould
The length of type；Function code field is the frame identification code of two byte lengths, the function code of same transmission path, direction and frame type
Can not be identical.
The frame header fields of the present invention include source address field and DAF destination address field, it is adaptable to many communication between devices.Using
Support structures model effectively improves data framing and parsing efficiency.Frame header fields include frame type field, and frame can pass through when parsing
Frame type carries out classification parsing to load data, effectively improves the readability and maintainability of code.Using cyclic redundancy calibration side
Formula, it is ensured that the low error rate of data transmission high communication quality.
The present invention is applied to the communication protocol decoding method of multimachine reliable communication, and referring to Fig. 1-5, it is comprised the concrete steps that：
Step S1, sets up Generic Frame Format：Frame format comprising start field, frame header fields, Load field, check field and
Trailer field, is arranged in order according to order from front to back, and such as frame format is as shown in Figure 1).
The beginning field and trailer field of the present embodiment are the fixed value of two bytes, and beginning field is 0x100x02, knot
Beam field is 0x31 0xaa.
Step S2, sets up frame header fields：The form of frame header fields includes frame type field, source address field, destination address
Field, payload length field and function code field, each field are arranged in order according to order from front to back, part A frame in such as Fig. 1
It is shown.
Load field is expressed as multiple continuous data type field formation support structures models according to load contents, wherein negative
It can be char types, short types, fool types, int types and self-defined structure body type etc. to carry content data type, such as Fig. 2 institutes
Show.
Check field is the cyclic redundancy check value of two bytes, and the data that participation is verified are since frame type field to negative
Field is carried to terminate.It is 0x35 0xdb that the check value in the present embodiment is calculated with reference to Fig. 1.
Frame type field is the different frame types value of byte length, such as data frame (0x01), command frame (0x02), should
Answer frame (0x03) etc.；Frame type is data frame in the present embodiment.
Source address field is the data of a byte length, data sender device address mark is defined as, such as Fig. 3 institutes
Show, distinct device address mark is unique, equipment 0x02 is data sender.
DAF destination address field is the data of a byte length, data receiver device address mark is defined as, such as Fig. 3 institutes
Show, distinct device address mark is unique, equipment 0x03 is data receiver.Different equipment rooms can be logical by data/address bus
Letter, distinct device identifies whether to issue the data of oneself by destination address field (DAF).
Payload length field is the data of a byte length, is defined as payload length value, and the size of the value depends on bearing
Carry structural model length.
Function code field is the frame identification code of two byte lengths, the unique mark for defining the frame function, for same
The function code of one transmission path, direction and frame type can not be identical, and data from device 0x02 is sent to equipment in the present embodiment
0x03, frame type is data frame, and function code 0x10 0x22 are used for the unique mark for representing the frame function.
Step S3 framing cataloged procedures：Load is completed first, then creates transmission data byte array buffering area complete
Into frame head packing, the packing of complete transmission frame is finally completed, and loads transmission data byte array buffering area, framing is completed encoded
Journey；
The step S3 is specifically as shown in Figure 4.
1st, the load contents for transmission define support structures model, and the model is multiple consecutive numbers that load contents are expressed as
According to type field.By the load data of transmission according to support structures model successively assignment.Payload length is continuous type field
Total length is the length of support structures model, completes load contents and loads.
2nd, data transmitting equipment 0x02 creates data and sends byte arrays buffering area SendBuf [], with reference to source address, sends
Address, frame type, payload length and function digital content packing frame head, and be loaded into transmission data buffer zone, complete frame head and beat
Packaging is carried.
3rd, cyclic redundancy check value is calculated with reference to header content and load contents, and by load contents, check code and end
Field is loaded into transmission data buffer zone by frame format order, is completed the packing of complete transmission data frame and is loaded.
Step S4, frame resolving：Create and receive data byte array buffering area, lead code mistake is carried out to receiving data
Filter, detects packet validity, extracts frame head data, and destination address is filtered, and frame type is filtered, abstraction function code, with reference to
Support structures model completes load data parsing.
The step S4 is specifically as shown in Figure 5.
1st, data receiver 0x03, which is created, receives data byte array buffering area ReceiveBuf [], storage equipment 0x02
The data sent.
2nd, with reference to the data progress lead code filtering that field information is received to buffering area is started, checking receives first character
Whether section content is to start field, if it is continues executing with resolving, otherwise abandons the frame from newly parsing the frame that newly receives
Content.
3rd, CRC is carried out with reference to frame format, participates in the data of verification from frame type field to Load field knot
Beam, verifies the validity of packet, if calculated, obtained check code is consistent with the check bit in frame format to represent the packet
Resolving effectively is continued executing with, the frame is otherwise abandoned from newly parsing the content frame that newly receives.
4th, remove and start the data message that field, trailer field and verification bit field are formed with effect, extracted with reference to frame format
Frame originating point information.
5th, to step 4) formed valid data message carry out destination address filtering, the destination address received be this address
(0x03), then continue executing with resolving, otherwise abandons the frame from newly parsing the content frame that newly receives.
6th, frame type adaptation is carried out, for different frame types (such as data frame type, command frame type, acknowledgement frame type)
Function is handled into different types of data.
7th, abstraction function code, carries out frame function code adaptation, the load data analytical function of entered function code matching, with reference to this
Support structures model in function, completes load data parsing.
Simultaneously the invention also discloses a kind of communication apparatus using described communication protocol, including data/address bus and many
The individual equipment that connection is communicated by described data/address bus, described equipment includes framing coding module and frame parsing mould respectively
Block,
Described framing coding module includes,
Load submodule, to by the load data of transmission according to support structures model successively assignment, payload length
For continuous type field total length be support structures model length；
Frame head packing submodule, creating byte arrays buffering area to data transmitting equipment is used to store transmission data frame,
It is followed successively by each field contents assignment of frame header fields and is loaded into transmission data buffer area, completes frame head packing；
Complete transmission frame packing submodule, to combine frame type field to Load field, calculating obtains cyclic redundancy school
Value is tested, load contents, check code and trailer field are loaded into transmission data buffer area, the packing of complete transmission frame is completed；Most
Load afterwards and send data buffer zone, complete framing cataloged procedure；
Frame parsing module includes,
Lead code filter submodule, data byte array buffering area is received to create, and lead code is carried out to receiving data
Filtering, detects packet validity,
Filter submodule, to extract frame head data, filters to destination address, frame type is filtered, abstraction function successively
Code,
Analyzing sub-module, to carry out frame function code adaptation, the load data analytical function of entered function code matching, with reference to
Support structures model in the function, completes load data parsing.
Wherein, support structures definition module is also included in described load submodule, it is to for transmission
Load contents define support structures model, and the support structures model is multiple continuous data class type-words that load contents are expressed as
Section.
Specifically, many equipment rooms are combined with serial ports using Can bus communications or Can buses and communicated between communication, Can buses
When, all devices are hung in Can buses by Can mouthfuls, in Frame Protocol destination address and source address as the CanID in bus,
The data for the processing of oneself equipment are identified whether by CanID during communication between devices, data unpacking processing is if it is carried out；
With reference to when communicating between serial ports and Can buses, serial ports receives and raw address and destination address is parsed after data, is formed
CanID, that is, be linked to the device address in Can buses, then transmits this data in Can buses, is identified whether by CanID
For the data of oneself equipment processing, data unpacking processing is if it is carried out.
The Heterosis of communication apparatus of the present invention is：1st, the reliable and stable communication of many equipment rooms is realized.2nd, Can bus communications
When, CanID be bus on device address, while in Frame Protocol include destination address, the two addresses be it is one-to-one,
CanID is addressed for bus apparatus, and destination address is verified available for data transfer in Frame Protocol, improves the reliable of data transfer
Property.3rd, data framing and parsing efficiency are effectively improved using support structures model in the agreement.4th, the frame frame header fields include frame
Type field, classification parsing can be carried out when frame is parsed by frame type to load data, effectively improve the readability and dimension of code
Shield property.
Described above is only the preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of communication protocol suitable for multimachine reliable communication, it is characterised in that the frame format of described communications protocol includes
The frame being arranged in order according to order from front to back starts field, frame header fields, Load field, check field and trailer field；
Wherein, described frame header fields include frame type field, source address field, the target being arranged in order according to order from front to back
Address field, payload length field and function code field；Described Load field is expressed as multiple consecutive numbers according to load contents
According to type field, support structures model is formed.
2. communication protocol as claimed in claim 1, it is characterised in that frame starts field and trailer field is two to three bytes
Fixed value；Described check field is the cyclic redundancy check value of two bytes, participates in the data of verification from frame type field
To Load field.
3. communication protocol as claimed in claim 1, it is characterised in that described payload length field is a byte length
Data, are defined as payload length value, and the value is the length of support structures model；Function code field is that the frame of two byte lengths is known
The other code transmission path different to identify, direction and frame type.
4. communication protocol as claimed in claim 1, it is characterised in that data type be char types, short types, fool types,
Int types or self-defined structure body type.
5. communication protocol as claimed in claim 1, it is characterised in that frame type field is a byte length, to identify
Data frame type, command frame type or acknowledgement frame type.
6. the decoding method of the communication protocol suitable for multimachine reliable communication as described in claim any one of 1-5, it is special
Levy and be, comprise the following steps, framing cataloged procedure and frame resolving,
Described framing cataloged procedure includes,
Load step, by the load data of transmission according to support structures model successively assignment, payload length is continuous type
The total length of field is the length of support structures model；
Frame head packing step, data transmitting equipment, which creates byte arrays buffering area, to be used to store transmission data frame, is followed successively by frame head
Each field contents assignment of field is simultaneously loaded into transmission data buffer area, completes frame head packing；
Complete transmission frame packing step, with reference to frame type field to Load field, calculating obtains cyclic redundancy check value, will loaded
Content, check code and trailer field are loaded into transmission data buffer area, complete the packing of complete transmission frame；Finally load and send number
According to buffering area, framing cataloged procedure is completed；
Frame resolving includes,
Lead code filtration step：Create and receive data byte array buffering area, carry out lead code filtering to receiving data, detect number
According to bag validity,
Filtration step：Frame head data is extracted, destination address is filtered successively, frame type is filtered, abstraction function code,
Analyzing step：Carry out frame function code adaptation, the load data analytical function of entered function code matching, with reference in the function
Support structures model, completes load data parsing.
7. coding method as claimed in claim 6, its feature exists, also include support structures mould in described load step
Type definition step, it defines support structures model for the load contents sent, and the support structures model is expressed as load contents
Multiple continuous data type fields.
8. the communication apparatus of the communication protocol described in a kind of use claim any one of 1-5, it is characterised in that including data
Bus and multiple equipment that connection is communicated by described data/address bus, described equipment include framing coding module and frame respectively
Parsing module,
Described framing coding module includes,
Load submodule, to, according to support structures model successively assignment, payload length is company by the load data of transmission
The total length of continuous type field is the length of support structures model；
Frame head packing submodule, creating byte arrays buffering area to data transmitting equipment is used to store transmission data frame, successively
Each field contents assignment for frame header fields is simultaneously loaded into transmission data buffer area, completes frame head packing；
Complete transmission frame packing submodule, to combine frame type field to Load field, calculating obtains cyclic redundancy check value,
Load contents, check code and trailer field are loaded into transmission data buffer area, the packing of complete transmission frame is completed；Finally load
Data buffer zone is sent, framing cataloged procedure is completed；
Frame parsing module includes,
Lead code filter submodule, data byte array buffering area is received to create, and lead code filtering is carried out to receiving data,
Packet validity is detected,
Filter submodule, to extract frame head data, filters to destination address, frame type is filtered successively, abstraction function code,
Analyzing sub-module, to carry out frame function code adaptation, the load data analytical function of entered function code matching, with reference to the letter
Support structures model in number, completes load data parsing.
9. communication apparatus as claimed in claim 8, its feature exists, also include support structures in described load submodule
Definition module, it defines support structures model to the load contents for transmission, and the support structures model is load contents
The multiple continuous data type fields being expressed as.
10. communication apparatus as claimed in claim 8, its feature exists, many equipment rooms using Can bus communications or Can buses with
Serial ports, which is combined, to be communicated, and when being communicated between Can buses, all devices are hung in Can buses by Can mouthfuls, destination address in Frame Protocol
With source address as the CanID in bus, the data for the processing of oneself equipment are identified whether by CanID during communication between devices,
If it is data unpacking processing is carried out；
With reference to when communicating between serial ports and Can buses, serial ports receives and raw address and destination address is parsed after data, is formed
CanID, that is, be linked to the device address in Can buses, then transmits this data in Can buses, is identified whether by CanID
For the data of oneself equipment processing, data unpacking processing is if it is carried out.
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