CN111416761A - CAN waveform simulation device, simulation method and CAN waveform transmitter - Google Patents
CAN waveform simulation device, simulation method and CAN waveform transmitter Download PDFInfo
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- CN111416761A CN111416761A CN201910007907.3A CN201910007907A CN111416761A CN 111416761 A CN111416761 A CN 111416761A CN 201910007907 A CN201910007907 A CN 201910007907A CN 111416761 A CN111416761 A CN 111416761A
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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
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- 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
- H04L41/14—Network analysis or design
- H04L41/145—Network analysis or design involving simulating, designing, planning or modelling of a network
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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
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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
- H04L2012/40267—Bus for use in transportation systems
- H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
Abstract
The invention discloses a CAN waveform simulation device, a simulation method and a CAN waveform transmitter, wherein the method comprises the following steps: the CPU converts the pre-simulation waveform into a frame sequence; transmitting the sequence of frames to a CAN transceiver; the CAN transceiver converts a received frame sequence to obtain an analog waveform, the CPU generates configuration information according to the frame information of the frame sequence, the CAN controller is configured according to the configuration information, the CAN transceiver transmits the obtained analog waveform to the CAN controller, the CAN controller analyzes according to the configuration information or outputs the analog waveform according to the configuration information and outputs the analog waveform according to the output analog waveform, and the CAN controller compares whether the received analog waveform is a pre-analog waveform or not and outputs an analysis result. The invention is used for diagnosing the functionality and the stability of the CAN bus and each node by simulating various waveforms under various actual scenes or theoretical scenes.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a CAN waveform simulation device, a simulation method and a CAN waveform transmitter.
Background
With the rapid development of electronic technology and the wide application of electronic technology in automobiles, the degree of electronization of automobiles is higher and higher, and electric control devices in automobiles are more and more, such as electronic fuel injection devices, anti-lock braking devices, driving anti-skid systems, electrically controlled automatic transmissions, airbags, active suspensions, power windows, and the like. The integrated circuit and the single chip microcomputer are widely used in the automobile, so that the number of electronic controllers on the automobile is greatly increased, and the circuit is more and more complex. In order to simplify the circuit, increase the communication speed between the electric control units and reduce the failure frequency, a vehicle-mounted network is adopted to realize the communication between the vehicle-mounted electronic devices, meanwhile, the network bus technology application for improving the communication reliability between the control units and reducing the wire cost becomes the biggest hotspot in the field of automobile electronics, wherein, the use of the CAN bus becomes the key technology of the modern automobile network bus, the common CAN waveform transmitter on the market CAN only be used for transmitting data frames, remote frames, and the like, however, error frames such as error frames, overload frames, etc. cannot be constructed as desired, but CAN be constructed in a fixed format, such as CAN Scope, therefore, the waveform coverage of the CAN message sent by the transmitter is incomplete, and the stability and the correctness of the CAN node cannot be effectively diagnosed.
Disclosure of Invention
The invention aims to overcome the technical problems that the waveform coverage of a CAN message sent by a CAN transmitter is incomplete and the stability and the correctness of a CAN node cannot be effectively diagnosed in the prior art, and provides a CAN waveform simulation device, a simulation method and a CAN waveform transmitter.
A CAN waveform simulation method comprises the following steps:
the CPU converts the pre-simulation waveform into a frame sequence;
transmitting the sequence of frames to a CAN transceiver;
and the CAN transceiver converts the received frame sequence to obtain an analog waveform.
Further, the CPU generates configuration information according to the frame information of the frame sequence, configures a CAN controller according to the configuration information, sends the obtained analog waveform to the CAN controller, and the CAN controller analyzes according to the configuration information or outputs the analog waveform according to the configuration information and compares whether the received analog waveform is a pre-analog waveform according to the output analog waveform to output an analysis result.
Further, the frame information includes one or more of a remote frame, a data frame, and an error frame.
Further, the type of the error frame includes one or more of a fixed format error, a bit flipping error, a check error, a response error, a space field error, an active error, and a passive error.
Further, the CAN transceiver simulates the received frame sequence into a set of levels in a high-low level mode to form a simulation waveform, wherein the high level represents any one or more normal frames in the remote frames and the data frames, and the low level represents error frames.
Further, the CAN controller detects an error frame according to the configuration information, sends an error flag when detecting the error frame, increases the REC value of the CAN controller by a first preset value and increases the TEC value by a second preset value when sending the error flag, and sends the error flag when the CAN transceiver receives the error frame.
Further, when the frame sequence of the pre-simulation waveform includes an error frame, the frame sequence of the normal frame is configured first, and the frame sequence of the normal frame is configured according to a preset error type to configure the frame sequence of the error frame.
Further, when the analog waveform received by the CAN controller includes an error frame, and when the error frame is detected, whether the REC value and the TEC value meet expectations is queried to determine whether the analog waveform is a pre-analog waveform.
A CAN waveform simulation device comprises a microcontroller and a CAN transceiver,
the microcontroller comprises a CPU, wherein the CPU is used for converting a pre-simulation waveform into a frame sequence and sending the frame sequence to the CAN transceiver;
the CAN transceiver is used for converting the received frame sequence to obtain an analog waveform.
Further, the microcontroller further comprises a CAN controller, and the CPU is further configured to generate configuration information according to the frame information of the frame sequence, and configure the CAN controller according to the configuration information.
Furthermore, a sending pin of the CAN controller is connected with a first receiving pin of the CAN transceiver, a receiving pin of the CAN controller is connected with a sending pin of the CAN transceiver, and the sending pin of the CAN transceiver is also connected with a second receiving pin of the CAN transceiver.
Further, the CAN transceiver is further configured to send the obtained analog waveform to the CAN controller, and the CAN controller is configured to analyze the analog waveform according to the configuration information or output the analog waveform according to the configuration information and output the analog waveform, compare whether the received analog waveform is a pre-analog waveform, and output an analysis result.
A CAN waveform transmitter uses the CAN waveform simulation method.
A CAN waveform transmitter comprises the CAN waveform simulation device.
As CAN be seen from the above description of the present invention, compared with the prior art, the CAN waveform simulation apparatus, the simulation method, and the CAN waveform transmitter provided by the present invention are used to diagnose the functionality and stability of the CAN bus and each node by simulating various waveforms in various actual scenes or theoretical scenes.
Drawings
FIG. 1 is a block diagram of a CAN waveform simulation apparatus according to the present invention;
FIG. 2 is a flow chart of CAN waveform simulation according to the present invention;
FIG. 3 is a simulation flow chart of a normal frame according to the present invention;
FIG. 4 is a flow chart of the insertion of the stuff bit according to the present invention;
FIG. 5 is a flow chart of the simulation of the error frame according to the present invention;
fig. 6-10 are simulated waveforms of the present invention.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Some terms of the CAN bus are described below:
the CAN protocol supports different frame types in 4 for communication:
data frame: sending the sending node to the receiving node to transmit data; remote frame: mainly used for requesting information, when node a sends a remote frame to node B, if the data frame information in node B has the same identifier as node a, node B will respond and send the corresponding data frame to the bus. Error frame: a frame transmitted by any one node when the bus detects an error. Overload frame: an additional delay is provided between two previous data frames or remote frames. The data frame contains the start of the frame as follows (1); (2) an arbitration field containing an identifier and a type of information to be transmitted; (3) a control field containing the number of data bits; (4) a data field of up to 8 bytes; (5) cyclic Redundancy Check (CRC) bits; (6) an acknowledgement bit; (7) an end of frame bit.
SOF (solid oxide Filter): beginning of a data frame, indicating a data frame from which
Id (identifier):
information is given priority: when two or more nodes compete for the bus, the priority of the information is determined;
information filtering: it is determined whether a transmitted message CAN be received by the CAN module.
D L C, data Length code, indicating the number of bytes (0 to 8 bits) in a data frame
Data: 8-byte data field with 4 16-bit words for storing CAN information
CRC: the method comprises a 16-bit cyclic redundancy check calculation, and most information is subjected to cyclic redundancy check ACK: data response
EOF: end of data frame
As shown in fig. 1, a CAN waveform simulation apparatus includes a microcontroller 1 and a CAN transceiver 2,
the microcontroller 1 comprises a CPU11, an SPI bus 12 and a CAN controller 13, the CPU11 converts a pre-analog waveform into a frame sequence, generates configuration information according to frame information of the frame sequence, configures the CAN controller 13 according to the configuration information, during configuration, the frame sequence is configured and transmitted in a binary code stream mode, the SPI bus 12 transmits the frame sequence to a CAN transceiver 2, during transmission, the frame sequence is transmitted in the binary code stream mode, when the CAN transceiver 2 receives the frame sequence, the binary code stream is converted into a differential signal through calculation, the CAN transceiver 2 simulates the received frame sequence into a set of levels to form an analog waveform in a high-low level mode, wherein the high level represents any one or more normal frames in a remote frame and a data frame, and the low level represents an error frame, and the type of the error frame comprises a fixed format error frame, One or more of bit flipping errors, check errors, response errors, interval field errors, active errors and passive errors, storing the simulated waveform in a buffer software area after the waveform is simulated, configuring data in the buffer software area to a hardware buffer area, sending the data to the CAN controller 13, analyzing the simulated waveform according to configuration information or outputting the simulated waveform according to the configuration information, comparing whether the received simulated waveform is a pre-simulated waveform or not, detecting an error frame according to the configuration information, sending an error flag when the error frame is detected, increasing an REC value of the CAN controller by a first preset value, such as adding 1, increasing a TEC value by a second preset value, such as adding 8, and outputting an analysis result when the error flag is sent,
the transmitting pin CAN-TX of the CAN controller 13 is connected with a first receiving pin GAN-IP-TX of the CAN transceiver 2, the receiving pin CAN-RX of the CAN controller 13 is connected with a transmitting pin GEN-TX of the CAN transceiver 2, the transmitting pin GEN-TX of the CAN transceiver 2 is further connected to a second receiving pin CAN-RX of the CAN transceiver 2, the CAN transceiver 2 receives the frame sequence transmitted by the CPU1 through the SPI bus 12 on one hand, and receives the frame sequence transmitted by the CAN controller 13 through the first receiving pin GAN-IP-TX on the other hand, when the frame sequence is received by the CAN transceiver 2, the calculation is performed, the analog waveform is converted, the analog waveform is transmitted to the CAN controller 13 through a transmitting pin GEN-TX, and the CAN controller 13 receives the analog waveform transmitted by the CAN transceiver 2 through a receiving pin CAN-RX.
A CAN waveform transmitter comprises the CAN waveform simulation device.
As shown in fig. 2, a CAN waveform simulation method includes the following steps:
s1: the CPU converts the pre-simulation waveform into a frame sequence;
s2: transmitting the frame sequence to a CAN transceiver through an SPI bus;
s3: the CAN transceiver converts the received sequence of frames into an analog waveform,
s4: the CPU generates configuration information according to the frame information of the frame sequence, configures a CAN controller according to the configuration information, the CAN transceiver sends the obtained analog waveform to the CAN controller, the CAN controller analyzes according to the configuration information or outputs the analog waveform according to the configuration information and outputs the analog waveform according to the output analog waveform, compares whether the received analog waveform is a pre-analog waveform or not, outputs an analysis result,
the specific implementation is as follows: the CPU converts the pre-simulation waveform into a frame sequence, generates configuration information according to the frame information of the frame sequence, configures a CAN controller according to the configuration information, configures and transmits the frame sequence in a binary code stream mode during configuration, transmits the frame sequence to a CAN transceiver through an SPI bus, transmits the frame sequence in the binary code stream mode during transmission, converts the binary code stream into a differential signal through calculation when the CAN transceiver receives the frame sequence, simulates the received frame sequence into a set of levels in a high-low level mode to form a simulation waveform, wherein the high level represents any one or more normal frames in a remote frame and a data frame, the low level represents an error frame, and the type of the error frame comprises one or more of fixed format errors, bit flipping errors, check errors, response errors, interval field errors, active errors and passive errors, the method comprises the steps of storing a simulated waveform in a buffer software area after the simulation is carried out, configuring data of the buffer software area to a hardware buffer area, sending the data to a CAN controller, analyzing the data or outputting the simulated waveform according to configuration information by the CAN controller, comparing whether the received simulated waveform is a pre-simulated waveform or not according to the output simulated waveform, detecting an error frame according to the configuration information, sending an error mark when the error frame is detected, adding 1 to an REC value of the CAN controller and 8 to the TEC value when the error mark is sent, outputting an analysis result, and enabling each node of a CAN bus to be provided with the REC and the TEC which are respectively used for counting the number of receiving errors and sending errors.
When the frame sequence of the pre-simulation waveform comprises error frames, the frame sequence of normal frames is configured first, the frame sequence of normal frames is configured according to the preset error type to configure the frame sequence of the error frames, the simulation of the normal frames is as shown in FIG. 3, frame information including ID, DATA, frame type and DATA length is configured first, then sof waveforms, ID domain waveforms, ctrotal domain waveforms and DATA domain waveforms are simulated in a CAN transceiver, then crc is calculated and crc domain waveforms are simulated, stuff waveforms are inserted and the start indexes of various domains and the end indexes of the current waveforms are adjusted, then ack domain waveforms are simulated, and finally end domain waveforms are simulated. Since the most critical step in simulating a correct frame is to simulate the insertion of the stuff bit, it is known from the CAN protocol that: the Stuffbit is that when 5 identical levels of messages on the bus continuously appear between the sof domain and the crc domain, the sixth level must be opposite to the first 5 continuous levels. The process of inserting stuff bit is shown in fig. 4, and the specific steps are described as follows:
firstly, initializing the offset index (frameStartBitPos) of the detection message waveform continuous same level detection flag value (samecnt) as 0 and the frame start position in the buffer area, and then calculating the offset index of the crc field, the data field and the ctrotal field in the analog waveform buffer area according to the configuration. The original frame buffer waveform is then copied to the temporary buffer tempframe, the level value (preBitValue) of the previous waveform is set to 0, and the level value is written to the waveform buffer frame. And then judging whether the index value of the traversal frame reaches the end of the frame, and if so, updating the index value of the end position of the frame. If not, entering an insertion stuff bit flow, firstly reading a logic level corresponding to the current offset value in the temp frame of the temporary buffer area, accumulating 1 for the temp bit pos, judging whether the analog value of the temp frame at the current position is equal to the previous analog value or not, if so, adding 1 for a continuous equal mark (samecct), otherwise, clearing 0, then judging whether the samecct is equal to 4 or not, and simultaneously judging whether the index value of the current analog level reaches the initial field of the crc or not, if the condition is not satisfied, writing the value read in the tempbuf into the pframe buffer area, then adding 1 for a cycle accumulated value i, and if the previous condition is satisfied, clearing 0 for the continuous mark (samecct). And then, determining whether to adjust the initial offset of the ctral, crc and data fields according to the value of the frame region where the waveform index offset value is located, and if the initial offset is to be adjusted, adding 1 to the initial index value of the field to be adjusted. Then, the value of the currently obtained simulated level is inverted and written into the gframe buffer, then the currently simulated level value is written into the gframe, and finally the currently simulated level value is assigned to the previous level value (preBitValue). This is repeated until the end of the original frame is traversed. And finally completing the insertion action of the stuff bit of the whole frame.
When the pre-analog waveform output by the CAN controller includes an error frame, and when the error frame is detected, whether the REC value and the TEC value are in accordance with expectations is queried to determine whether the pre-analog waveform is the pre-analog waveform, so as to configure a frame sequence of a normal frame first, configure a frame sequence of a normal frame according to a preset error type to configure a frame sequence of an error frame, for example, a bit field is mistaken, transmit an error flag, continue to transmit a normal frame waveform, and query whether the REC value and the TEC value are in accordance with expectations.
Next, the waveform of the CAN that should be simulated on the bus is analyzed for several common error processes:
fig. 6.1 is a waveform on the bus of a normal CAN data frame that the CAN controller receives as an RX termination. Therefore, software is required in the CAN transceiver to simulate the waveform into a set of levels in a high-low level mode, and finally the set of levels is sent out through a CAN transceiver hardware module. Fig. 6.2.1 is the waveform automatically sent by the TX side hardware of the CAN controller, and fig. 6.2.2 is the waveform level on the bus simulated by the GEN _ TX side through software. At this time, as for the CAN controller, the waveform it actively transmits is the same as the analog waveform collected from the bus, so the TX end CAN normally transmit a normal data frame.
Fig. 7.1 shows a waveform actually simulated on the bus after the CAN controller side as the RX side mistakenly estimates the waveform of a bit in the crc field, and it CAN be seen that the next bit time at the error level starts to send an error flag, and at this time, the running program of the CAN controller CAN see that the REC value of the CAN is increased by 1, and meanwhile, a frame of data is not normally received, which is in line with the expectation. Fig. 7.2.1 is a bus waveform with the CAN controller side as the TX side, and it CAN be seen that an error flag appears after the crc field. And then continues to transmit a correct frame. Fig. 7.2.2 is a waveform diagram sent by the CAN transceiver end, which is consistent with the TX waveform of the CAN controller end, and at this time, the CAN controller end just acquires the bus waveform sent by itself, which conforms to the CAN SPEC protocol, and reaches the expectation.
Fig. 8.1 shows a bus waveform of the CAN controller as the RX side bit error, where the bit error chooses to mistake crc delay, i.e. high level to low level, and then sends an error flag waveform, which is then simulated at the TX side of the CAN transceiver as if the CAN controller really received such an error frame. Fig. 8.2.1 shows a bus waveform of the CAN controller terminal as the TX terminal bit error, where the bit error chooses to deliberately mistake crcdelimiter, which is originally high level to low level, then sends an error frame, and then sends a correct frame, and this part of the waveform is sent out by the CAN controller TX terminal of the CAN controller. Fig. 8.2.2 is a waveform transmitted by the CAN transceiver end, which is consistent with the TX waveform of the CAN controller end, and at this time, the CAN controller end just acquires the bus waveform transmitted by itself, which conforms to the CAN SPEC protocol, and reaches the expectation.
The stuff bit error waveform analysis is the same as the bit error analysis as in fig. 9.1, fig. 9.2.1, fig. 9.2.2.
Fig. 10.1 and 10.2 are waveforms simulating a race on the bus, where the ID2 field (dominant) in fig. 10.1 has a higher priority than the ID2 field (invisible) in fig. 10.2, and the TX side at the CAN controller side is transmitting the waveforms normally, and the TX of the CAN transceiver must keep the same waveforms synchronously. Until the TX end of the CAN controller finishes transmitting, then the CAN transceiver end continues to transmit the waveform from ID3 until the end. Finally, the register at the CAN controller end CAN know that the CAN controller end CAN normally send own data frames and CAN receive the data frames at the CAN transceiver end. Both the waveform and the controller state are CAN SPEC compliant, as expected.
As CAN be seen from the above description of the present invention, compared with the prior art, the CAN waveform simulation apparatus, the simulation method, and the CAN waveform transmitter provided by the present invention are used to diagnose the functionality and stability of the CAN bus and each node by simulating various waveforms in various actual scenes or theoretical scenes.
The above description is only a few specific embodiments of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by the design concept should fall within the scope of the present invention.
Claims (14)
1. A CAN waveform simulation method is characterized by comprising the following steps:
the CPU converts the pre-simulation waveform into a frame sequence;
transmitting the sequence of frames to a CAN transceiver;
and the CAN transceiver converts the received frame sequence to obtain an analog waveform.
2. The CAN waveform simulation method of claim 1, further comprising: the CPU generates configuration information according to the frame information of the frame sequence, configures the CAN controller according to the configuration information, the CAN transceiver sends the obtained analog waveform to the CAN controller, and the CAN controller analyzes according to the configuration information or outputs the analog waveform according to the configuration information and outputs the analog waveform according to the output analog waveform, compares whether the received analog waveform is a pre-analog waveform or not, and outputs an analysis result.
3. The CAN waveform simulation method of claim 2, wherein: the frame information comprises one or more of remote frames, data frames and error frames.
4. The CAN waveform simulation method of claim 3, wherein: the type of the error frame comprises one or more of fixed format error, bit flipping error, check error, acknowledgement error, space field error, active error and passive error.
5. The CAN waveform simulation method of any one of claims 1 to 4, wherein: the CAN transceiver simulates the received frame sequence into a set of levels in a high-low level mode to form a simulated waveform, wherein the high level represents any one or more normal frames in a remote frame and a data frame, and the low level represents an error frame.
6. The CAN waveform simulation method of claim 5, wherein: the CAN controller detects error frames according to configuration information, sends error signs when detecting the error frames, increases REC values of the CAN controller by a first preset value and increases TEC values by a second preset value when sending the error signs, and simultaneously sends the error signs when the CAN transceiver receives the error frames.
7. The CAN waveform simulation method of claim 6, wherein: when the frame sequence of the pre-simulation waveform comprises error frames, the frame sequence of the normal frames is configured firstly, and the frame sequence of the normal frames is configured according to the preset error type to configure the frame sequence of the error frames.
8. The CAN waveform simulation method of claim 7, wherein: and when the analog waveform received by the CAN controller comprises an error frame and the error frame is detected, inquiring whether the REC value and the TEC value are in accordance with expectations or not so as to judge whether the analog waveform is a pre-analog waveform or not.
9. A CAN waveform simulation device is characterized in that: comprises a microcontroller and a CAN transceiver,
the microcontroller comprises a CPU, wherein the CPU is used for converting a pre-simulation waveform into a frame sequence and sending the frame sequence to the CAN transceiver;
the CAN transceiver is used for converting the received frame sequence to obtain an analog waveform.
10. The CAN waveform simulation apparatus of claim 9, wherein: the microcontroller also comprises a CAN controller, and the CPU is also used for generating configuration information according to the frame information of the frame sequence and configuring the CAN controller according to the configuration information.
11. The CAN waveform simulation apparatus of claim 10, wherein: the CAN transceiver is characterized in that a sending pin of the CAN controller is connected with a first receiving pin of the CAN transceiver, a receiving pin of the CAN controller is connected with a sending pin of the CAN transceiver, and the sending pin of the CAN transceiver is also connected with a second receiving pin of the CAN transceiver.
12. The CAN waveform simulation apparatus of claim 10 or 11, wherein: the CAN transceiver is also used for sending the obtained analog waveform to the CAN controller, and the CAN controller is used for analyzing according to the configuration information or outputting the analog waveform according to the configuration information and outputting the analog waveform, comparing whether the received analog waveform is a pre-analog waveform or not, and outputting an analysis result.
13. A CAN waveform transmitter, characterized by: use of the CAN waveform simulation method of any of claims 1-8.
14. A CAN waveform transmitter, characterized by: including the CAN waveform simulation apparatus of any of claims 9-11.
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| CN201910007907.3A CN111416761A (en) | 2019-01-04 | 2019-01-04 | CAN waveform simulation device, simulation method and CAN waveform transmitter |
| PCT/CN2019/110183 WO2020140526A1 (en) | 2019-01-04 | 2019-10-09 | Can waveform simulation device and method, and can waveform transmitter |
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| 广东致远电子股份有限公司: ""CANScope 报文干扰测试"", 《百度文库，URL：HTTPS://WENKU.BAIDU.COM/VIEW/E2F2F2AAA1C7AA00B52ACBF6.HTML》 * |
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| WO2020140526A1 (en) | 2020-07-09 |
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