CN107959608A - CAN bus terminal resistance matching process and device - Google Patents
CAN bus terminal resistance matching process and device Download PDFInfo
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- CN107959608A CN107959608A CN201711278885.1A CN201711278885A CN107959608A CN 107959608 A CN107959608 A CN 107959608A CN 201711278885 A CN201711278885 A CN 201711278885A CN 107959608 A CN107959608 A CN 107959608A
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- out resistor
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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
-
- 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
-
- 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
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0668—Management of faults, events, alarms or notifications using network fault recovery by dynamic selection of recovery network elements, e.g. replacement by the most appropriate element after failure
-
- 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
-
- 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 disclosure aims to provide a kind of CAN bus terminal resistance matching process and device, causes communication failure at least to solve the problems, such as in correlation technique that CAN bus terminal resistance is improper.Disclosed CAN bus terminal resistance matching process includes：Obtain the differential level of CAN bus；Whether the differential level for judging to get is within preset range；In the case where the differential level got is not within preset range, the output terminal of CAN bus is controlled to switch to the second build-out resistor of access from the first build-out resistor being currently accessed.The disclosure improves the stability of CAN network communication.
Description
Technical field
The present invention relates to data communication technology field, in particular to a kind of CAN (Controller Area
Network, controller local area network) bus termination resistors match method and device.
Background technology
Signal amplitude in CAN bus is the guarantee of the correct recognition logic signal of receiving node energy.But in the reality of CAN bus
In the application of border, since signal has reflection in transmitting procedure, if it exceeds CAN communication standard, gently then introduces common mode interference, lead
Communications failure is caused, it is heavy then cause device failure.To ensure that CAN bus is correctly communicated, it is necessary to which the terminal in CAN communication network respectively adds
One build-out resistor, resistance value and the real network wiring of the build-out resistor of terminal and the length of connection, the impedance of connection have
Relation, only chooses suitable build-out resistor, just can guarantee that CAN network communication is normal.Present inventor is in analysis failure
During mainboard, it is found that the electromagnetic environment of complicated cabling and complexity can cause terminal resistance improper, cause since terminal resistance damages
CAN communication failure, therefore propose the application.
The content of the invention
Present disclose provides a kind of CAN bus terminal resistance matching process and device, at least to solve CAN in correlation technique
Bus termination resistance improper the problem of causing communication failure.
According to the first aspect of the disclosure, there is provided a kind of CAN bus terminal resistance matching process, including：Obtain CAN
The differential level of bus；Judge the differential level whether within preset range；In the differential level not described default
Within the scope of in the case of, control the output terminal of the CAN bus to switch to access from the first build-out resistor being currently accessed
Two build-out resistors.
Alternatively, the output terminal of the control CAN bus switches to access from the first build-out resistor being currently accessed
Second build-out resistor, including：Control the CAN bus output terminal switched to from first build-out resistor being currently accessed it is pre-
If multiple build-out resistors in second build-out resistor, obtain the differential level of the CAN bus output terminal, and root again
Judge whether to need the build-out resistor for switching the output terminal according to the differential level got again, until the differential electrical got
Put down within the preset range.
Alternatively, the output terminal of the control CAN bus switches to access from the first build-out resistor being currently accessed
Second build-out resistor, including：An output terminal in the CANL and CANH of the CAN bus is controlled to switch the matching of its access
After resistance, the differential level of the CAN bus output terminal is obtained, in the differential level got not within the preset range
In the case of, control another output terminal in the CAN bus to switch the build-out resistor of its access.
Alternatively, the output terminal of the control CAN bus switches to access from the first build-out resistor being currently accessed
Second build-out resistor, including：In the case where the differential level got is less than the lower numerical limit of the preset range, institute is controlled
The output terminal for stating CAN bus switches to access second build-out resistor from first build-out resistor being currently accessed, at this
The resistance value of second build-out resistor is more than the resistance value of first build-out resistor in the case of kind；It is big in the differential level got
In the case of the upper limit value of the preset range, the output terminal of the CAN bus is controlled from described first be currently accessed
Access second build-out resistor is switched to resistance, the resistance value of second build-out resistor is less than described the in that case
The resistance value of one build-out resistor.
Alternatively, the method further includes：Before the differential level of CAN bus is obtained, the CAN bus output is detected
The upper limit value and lower limit of the build-out resistor resistance value at end；The resistance value of the multiple preset resistance is in the build-out resistor resistance value
In the number range that upper limit value and lower limit are limited.
According to the second of the disclosure aspect, there is provided a kind of CAN bus terminal resistance coalignment, including：Described
The output terminal of CAN bus has multiple resistance and a multidiameter option switch, the first end of the multiple resistance respectively with it is described more
Multiple branches of the first end of road selecting switch are connected, one end after the second end parallel connection of the multiple resistance with the output terminal
It is connected, the second end of the multidiameter option switch is connected with the other end of the output terminal.
Alternatively, the CANH output terminals of CAN bus and/or CANL output terminals have the multiple resistance and the multichannel
Selecting switch.
Alternatively, the resistance value of the multiple resistance is different.
Alternatively, the multiple resistance is according to the multiple of the form that resistance value size order arranges and the multidiameter option switch
Branch is connected.
Alternatively, before the CAN bus powers on, the multidiameter option switch with according to resistance value size order arrangement
Resistance in an intermediate position is connected in the multiple resistance.
Alternatively, the resistance value of the centrally located resistance is 120 ohm.
Alternatively, it is in equal difference relation between the resistance value of the multiple resistance.
Alternatively, described device further includes AD (Analog-to-Digital, analog-to-digital conversion) device, the a/d converter with
The output terminal of the CAN bus is connected.
Alternatively, described device further includes：
Controller, a/d converter described in the input terminal of the controller are connected, the output terminal of the controller with it is described more
Road selecting switch is connected.
Alternatively, described device further includes：Multiple CAN node devices and multiple CAN transceivers, the multiple CAN sections
Point device and multiple CAN transceivers are arranged between the CANH output terminals and CANL output terminals of the CAN bus.
The scheme that the embodiment of the present disclosure provides, the resistance of different resistance values is provided with CAN bus output terminal, according to detecting
CAN bus differential voltage control CAN bus output terminal switching access build-out resistor, to realize CAN bus terminal resistance
Auto-matching, improve the stability of CAN bus network.
Brief description of the drawings
Fig. 1 is a kind of flow chart of CAN bus terminal resistance matching process of the embodiment of the present application 1；
Fig. 2 is the schematic diagram for being used to represent the form of differential level value range in the embodiment of the present application 1；
Fig. 3 is the flow chart of another CAN bus terminal resistance matching process of the embodiment of the present application 1；
Fig. 4 is the block diagram of the CAN bus terminal resistance coalignment of the embodiment of the present application 1.
Embodiment
Here exemplary embodiment will be illustrated in detail, its example is illustrated in the accompanying drawings.Following description is related to
During attached drawing, unless otherwise indicated, the same numbers in different attached drawings represent the same or similar key element.Following exemplary embodiment
Described in embodiment do not represent and the consistent all embodiments of the present invention.On the contrary, they be only with it is such as appended
The example of the consistent apparatus and method of some aspects being described in detail in claims, of the invention.
Embodiment 1
A kind of CAN bus terminal resistance matching process is present embodiments provided, Fig. 1 is the flow chart of this method, such as Fig. 1 institutes
Show, this method comprises the following steps：
Step 101：Obtain the differential level of CAN bus；
In the present embodiment, the level magnitude of CANH and CANL can be obtained respectively by AD samplings, further according to CANH
The differential level CANdiff of CAN bus is calculated with the level magnitude of CANL.
Step 102：Judge differential level whether within preset range；
Due to the signal amplitude in CAN bus, receiving node could correct recognition logic letter only in certain scope
Number, for example, the amplitude of the usually differential level CANdiff=(CANH-CANL) of CAN bus can just be identified as more than 0.9V
Dominant level, differential amplitude are identified as recessive level less than 0.5V, and Fig. 2 is the scope of CAN level as defined in ISO11898,
Preset range involved in the present embodiment can be set according to the level range shown in Fig. 2 in the present embodiment.
Step 103：In the case where differential level is not within preset range, the output terminal of CAN bus is controlled from current
First build-out resistor of access switches to the second build-out resistor of access.
Wherein, the first build-out resistor is the build-out resistor that CAN bus output terminal accesses before handover, and second resistance is
CAN bus output terminal can select any resistance of access by multinomial selecting switch.
In one case, the output terminal of CAN bus is controlled to switch to access from the first build-out resistor being currently accessed
The step of two build-out resistors, can include：The output terminal of control CAN bus switches to pre- from the first build-out resistor being currently accessed
If multiple build-out resistors in the second build-out resistor, obtain the differential level of CAN bus output terminal again, and according to obtaining again
The build-out resistor that the differential level got judges whether to need to switch output terminal is not (if the differential level got is in default model
In enclosing, then need to switch the build-out resistor of CAN bus output terminal, otherwise without switching), until the differential level got is pre-
Within the scope of if.
In another case, the output terminal of CAN bus is controlled to switch to access from the first build-out resistor being currently accessed
The step of second build-out resistor, can include：An output terminal in the CANL and CANH of CAN bus is controlled to switch its access
Build-out resistor after, obtain CAN bus output terminal differential level, in the differential level got not within preset range
In the case of, control another output terminal in CAN bus to switch the build-out resistor of its access.
In still another case, the output terminal of CAN bus is controlled to switch to access from the first build-out resistor being currently accessed
The step of second build-out resistor, can include：
In the case where the differential level got is less than the lower numerical limit of preset range, the output terminal of CAN bus is controlled
The resistance value of access the second build-out resistor, in that case the second build-out resistor is switched to from the first build-out resistor being currently accessed
More than the resistance value of the first build-out resistor；In the case where the differential level got is more than the upper limit value of preset range, CAN is controlled
The output terminal of bus is switched to from the first build-out resistor being currently accessed accesses the second build-out resistor, second in that case
Resistance value with resistance is less than the resistance value of the first build-out resistor.
Alternatively, the CAN bus terminal resistance matching process of the present embodiment can also include：Obtaining the difference of CAN bus
Divide before level, detect the upper limit value and lower limit of the build-out resistor resistance value of CAN bus output terminal；Can be specifically to meet
The upper limit value and lower limit of the build-out resistor resistance value of CAN bus output terminal are detected in the case of the basic communication need of CAN bus
Value, based on this, numerical value that the resistance values of above-mentioned multiple preset resistances is limited in the upper limit value and lower limit of build-out resistor resistance value
In the range of.
Fig. 3 is the block diagram of the CAN bus terminal resistance coalignment of this implementation, total in another CAN to the present embodiment
Before line terminal resistance matching process illustrates, resistance value is matched to the CAN bus terminal resistance of the present embodiment with reference to Fig. 3 first
It is briefly described.
As shown in figure 3, in CAN bus communication network terminal there are a multidiameter option switch, which can
To select the output terminal of the resistance of different resistance values access CAN bus.Exemplary, the resistance value of the R3 shown in Fig. 3 can be defaulted as
120 ohm, the resistance value of other resistance can be chosen according to actual conditions, such as the relation of resistance value can meet R1 between these resistance
<R2<R3<R4<R5.Can be measured respectively under conditions of CAN bus normal communication is ensured the upper limit value of terminal coupling resistance with
And lower limit so that R1, R5 value power in the number range that the upper limit value and lower limit measured are limited
Afterwards, multidiameter option switch acquiescence chooses resistance R3, i.e., by the output terminal of R3 access CAN bus.Come below in conjunction with Fig. 4 to this implementation
The CAN bus terminal resistance matching process of example illustrates.
Fig. 4 is the flow chart of the present embodiment another kind CAN bus terminal resistance matching process, as shown in figure 4, this method bag
Include：
In an initial condition, multidiameter option switch selection R3 resistance, makes choice in the build-out resistor to CAN bus terminal
When, after initiation CAN communication is powered on, the level magnitude of CANH and CANL are taken respectively by AD samplings, according to CANH and CANL
Level magnitude calculate the differential level CANdiff of CAN bus.If the differential level being calculated is within a preset range,
The resistance value of CAN bus output terminal access need not then be adjusted；If the differential level CANdiff calculated is not in preset range
It is interior, if differential level amplitude is less than normal, then it is assumed that the resistance R3 of current CAN bus selection is less than normal, or resistance R3 damages, this
When control multidiameter option switch toward R5 direction select a resistance else, until differential electrical level values within a preset range.Calculating
Differential level CANdiff not within the preset range in the case of, think that CAN bus is currently selected if differential level is bigger than normal
The resistance R3 selected is bigger than normal, controls the direction of multidiameter option switch toward R1 to select a resistance else at this time, until the value of differential level exists
Within preset range.
The CAN bus terminal resistance matching process of the present embodiment can be solved in CAN bus communication network due to terminal electricity
Resistance mismatches communication caused by CAN nodes None- identified caused by (terminal resistance is bigger than normal or less than normal) and terminal resistance damage
Abnormal problem, improves the stability of CAN bus network.
Embodiment 2
A kind of CAN bus terminal resistance coalignment is present embodiments provided, Fig. 3 is an exemplary frame of the device
Figure, as shown in figure 3, the device includes following part：
There is multiple resistance and multidiameter option switch, the first end difference of the plurality of resistance in the output terminal of CAN bus
Be connected with multiple branches of the first end of multidiameter option switch, after the second end parallel connection of the plurality of resistance with CAN bus output terminal
One end be connected, the second end of multidiameter option switch is connected with the other end of CAN bus output terminal.With R1, R2, R3, R4 in Fig. 3
And R5 carries out example to multiple resistance in the present embodiment.
In the present embodiment, there is multiple resistance and multichannel to select for the CANH output terminals of CAN bus and/or CANL output terminals
Switch is selected, Fig. 3 shows that CANH and CANL ends are respectively provided with a kind of situation of multidiameter option switch and multiple resistance.
In the present embodiment, the resistance value of multiple resistance is different, and in one case, the plurality of resistance is suitable according to resistance value size
The form of sequence arrangement is connected with multiple branches of multidiameter option switch successively, i.e., between multiple resistances shown in Fig. 3
Relation can be expressed as：R1<R2<R3<R4<R5.
In the present embodiment, before CAN bus powers on, multidiameter option switch is more with being arranged according to resistance value size order
Resistance in an intermediate position is connected in a resistance, as shown in figure 3, multidiameter option switch acquiescence is connected with resistance R3.It is exemplary,
R3 resistance values are defaulted as 120 ohm.
In the present embodiment, can be in equal difference relation between the resistance value of multiple resistance, for example, R1~R5 can be 80 successively
Ohm, 100 ohm, 120 ohm, 140 ohm and 160 ohm.
Alternatively, the CAN bus terminal resistance coalignment of the present embodiment can also include a/d converter (in Fig. 3 temporarily not
Show), which is connected with the output terminal of CAN bus, for CAN bus carry out AD samplings, obtain CANH and
The level magnitude of CANL.
Alternatively, the CAN bus terminal resistance coalignment of the present embodiment can also include controller, the controller it is defeated
Enter to hold a/d converter to be connected, the output terminal of controller is connected with multidiameter option switch, which can sample according to AD and obtain
CANH and the level magnitude control multidiameter option switch of CANL access the resistance of different resistance values.
As shown in figure 3, the CAN bus terminal resistance coalignment of the present embodiment further includes：Multiple CAN node devices and
Multiple CAN transceivers, multiple CAN node devices and multiple CAN transceivers be arranged at CAN bus CANH output terminals and
Between CANL output terminals.
The CAN bus terminal resistance matching process of the present embodiment can be solved in CAN bus communication network due to terminal electricity
Resistance mismatches communication caused by CAN nodes None- identified caused by (terminal resistance is bigger than normal or less than normal) and terminal resistance damage
Abnormal problem, improves the stability of CAN bus network.
Those skilled in the art will readily occur to the present invention its after considering specification and putting into practice invention disclosed herein
Its embodiment.This application is intended to cover the present invention any variations, uses, or adaptations, these modifications, purposes or
Person's adaptive change follows the general principle of the present invention and the common knowledge in the art do not invented including the present invention
Or conventional techniques.Description and embodiments are considered only as exemplary, and true scope and spirit of the invention are by following
Claim is pointed out.
It should be appreciated that the invention is not limited in the precision architecture for being described above and being shown in the drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is only limited by appended claim.
Claims (10)
- A kind of 1. CAN bus terminal resistance matching process, it is characterised in that including：Obtain the differential level of controller local area network's CAN bus；Judge the differential level whether within preset range；In the case where the differential level is not within the preset range, the output terminal of the CAN bus is controlled from current First build-out resistor of access switches to the second build-out resistor of access.
- 2. according to the method described in claim 1, it is characterized in that, the output terminal of the control CAN bus connects from currently The first build-out resistor entered switches to the second build-out resistor of access, including：The output terminal of the CAN bus is controlled to switch to default multiple matching electricity from first build-out resistor being currently accessed Second build-out resistor in resistance, obtain the differential level of the CAN bus output terminal again, and according to getting again Differential level judges whether to need the build-out resistor for switching the output terminal, until the differential level got is in the default model Within enclosing.
- 3. according to the method described in claim 1, it is characterized in that, the output terminal of the control CAN bus connects from currently The first build-out resistor entered switches to the second build-out resistor of access, including：After controlling an output terminal in the CANL and CANH of the CAN bus to switch the build-out resistor of its access, institute is obtained The differential level of CAN bus output terminal is stated, in the case where the differential level got is not within the preset range, control Another output terminal in the CAN bus switches the build-out resistor of its access.
- 4. according to the method described in claim 1, it is characterized in that, the output terminal of the control CAN bus connects from currently The first build-out resistor entered switches to the second build-out resistor of access, including：In the case where the differential level got is less than the lower numerical limit of the preset range, the defeated of the CAN bus is controlled Outlet switches to access second build-out resistor from first build-out resistor being currently accessed, and in that case described the The resistance value of two build-out resistors is more than the resistance value of first build-out resistor；In the case where the differential level got is more than the upper limit value of the preset range, the output of the CAN bus is controlled End switches to access second build-out resistor from first build-out resistor being currently accessed, and in that case described second The resistance value of build-out resistor is less than the resistance value of first build-out resistor.
- 5. method according to any one of claims 1 to 4, it is characterised in that the method further includes：Obtain CAN bus differential level before, detect the CAN bus output terminal build-out resistor resistance value upper limit value with And lower limit；The number that the resistance value of the multiple preset resistance is limited in the upper limit value and lower limit of the build-out resistor resistance value In the range of value.
- A kind of 6. CAN bus terminal resistance coalignment, it is characterised in that including：There is multiple resistance and multidiameter option switch, the first end point of the multiple resistance in the output terminal of the CAN bus Be not connected with multiple branches of the first end of the multidiameter option switch, after the second end parallel connection of the multiple resistance with it is described defeated One end of outlet is connected, and the second end of the multidiameter option switch is connected with the other end of the output terminal.
- 7. device according to claim 6, it is characterised in that CANH output terminals and/or the CANL output of the CAN bus End has the multiple resistance and the multidiameter option switch.
- 8. device according to claim 6, it is characterised in that the resistance value of the multiple resistance is different.
- 9. device according to claim 8, it is characterised in that the shape that the multiple resistance is arranged according to resistance value size order Formula and multiple branches of the multidiameter option switch are sequentially connected.
- 10. device according to claim 8, it is characterised in that before the CAN bus powers on, the multi-path choice Switch is connected with resistance in an intermediate position in the multiple resistance arranged according to resistance value size order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711278885.1A CN107959608A (en) | 2017-12-06 | 2017-12-06 | CAN bus terminal resistance matching process and device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711278885.1A CN107959608A (en) | 2017-12-06 | 2017-12-06 | CAN bus terminal resistance matching process and device |
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| CN107959608A true CN107959608A (en) | 2018-04-24 |
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| CN201711278885.1A Pending CN107959608A (en) | 2017-12-06 | 2017-12-06 | CAN bus terminal resistance matching process and device |
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| CN108900402A (en) * | 2018-07-23 | 2018-11-27 | 珠海格力电器股份有限公司 | A kind of build-out resistor termination control method, apparatus and system |
| CN109552085A (en) * | 2019-01-09 | 2019-04-02 | 上海蔚来汽车有限公司 | The charging unit and charging method of electric car |
| CN109672636A (en) * | 2018-12-29 | 2019-04-23 | 深圳市越疆科技有限公司 | A kind of resistors match circuit |
| CN112183008A (en) * | 2019-06-18 | 2021-01-05 | 北京理工大学 | Terminal resistance matching method of CAN bus network |
| CN112859808A (en) * | 2021-01-11 | 2021-05-28 | 上海星融汽车科技有限公司 | CAN bus terminal resistor adaptation method, system and diagnosis equipment |
| CN113176743A (en) * | 2021-03-25 | 2021-07-27 | 四川百纳科技有限责任公司 | CAN network physical layer diagnosis resistance self-adaptive circuit and method |
| CN113302879A (en) * | 2019-01-18 | 2021-08-24 | 利勃海尔比伯拉赫零部件有限公司 | Bus-compatible device arrangement with switchable termination resistor |
| CN114217563A (en) * | 2022-01-14 | 2022-03-22 | 华清科盛(北京)信息技术有限公司 | Terminal resistance adjusting method and device of industrial CAN bus based on sorting system |
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| CN108900402A (en) * | 2018-07-23 | 2018-11-27 | 珠海格力电器股份有限公司 | A kind of build-out resistor termination control method, apparatus and system |
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| CN112183008A (en) * | 2019-06-18 | 2021-01-05 | 北京理工大学 | Terminal resistance matching method of CAN bus network |
| CN112859808A (en) * | 2021-01-11 | 2021-05-28 | 上海星融汽车科技有限公司 | CAN bus terminal resistor adaptation method, system and diagnosis equipment |
| CN113176743A (en) * | 2021-03-25 | 2021-07-27 | 四川百纳科技有限责任公司 | CAN network physical layer diagnosis resistance self-adaptive circuit and method |
| CN113176743B (en) * | 2021-03-25 | 2022-11-15 | 四川百纳科技有限责任公司 | CAN network physical layer diagnosis resistance self-adaptive circuit and method |
| CN115277282A (en) * | 2021-04-30 | 2022-11-01 | 武汉中科牛津波谱技术有限公司 | CAN node, working method thereof and CAN bus |
| CN114217563A (en) * | 2022-01-14 | 2022-03-22 | 华清科盛(北京)信息技术有限公司 | Terminal resistance adjusting method and device of industrial CAN bus based on sorting system |
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Application publication date: 20180424 |