WO2016128238A1 - Station participante pour un système de bus et procédé de fonctionnement d'un système de bus avec des stations participantes pour différents standards de transmission de données - Google Patents

Station participante pour un système de bus et procédé de fonctionnement d'un système de bus avec des stations participantes pour différents standards de transmission de données Download PDF

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Publication number
WO2016128238A1
WO2016128238A1 PCT/EP2016/052029 EP2016052029W WO2016128238A1 WO 2016128238 A1 WO2016128238 A1 WO 2016128238A1 EP 2016052029 W EP2016052029 W EP 2016052029W WO 2016128238 A1 WO2016128238 A1 WO 2016128238A1
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WO
WIPO (PCT)
Prior art keywords
message
bit
subscriber station
bus system
field
Prior art date
Application number
PCT/EP2016/052029
Other languages
German (de)
English (en)
Inventor
Florian Hartwich
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2016128238A1 publication Critical patent/WO2016128238A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering 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
    • H04L12/407—Bus networks with decentralised control
    • H04L12/413—Bus networks with decentralised control with random access, e.g. carrier-sense multiple-access with collision detection (CSMA-CD)
    • 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

Definitions

  • Subscriber station for a bus system and method for operating a
  • the present invention relates to a subscriber station for a bus system and to a method for operating a bus system with subscriber stations for different data transmission standards.
  • the CAN bus system has gained wide acceptance for communication between sensors and ECUs, for example in automobiles.
  • messages are transmitted using the CAN protocol, as described in IS011898.
  • automotive bus systems are continually evolving toward higher bandwidth, lower latency, and more rigorous real-time capability. More recently, techniques have been proposed for this, such as CAN FD, in which messages conforming to the specification "CAN with Flexible Data Rate,
  • CAN FD frames or CAN FD messages in the following:
  • CAN FD the user data length is increased from 8 to 64 bytes and the data transmission rates are significantly higher than with CAN.
  • the extension of the CAN protocol or CAN standard has been extended in addition to primarily functional additions, such as TTCAN, recently with CAN FD especially in terms of the possible (higher) data rate and the usable data packet size, with the very own CAN properties particularly in form the arbitration were received.
  • CAN Classic subscriber station or its transmitting / receiving device which is also called a transmitter, attempts to transmit a Classic CAN message, whereby at the same time a CAN FD subscriber station or its transmitting / receiving device attempts to transmit a CAN FD message the same identifier as the identifier of the Classic CAN message.
  • Data transmission standards are provided in which the installation and operation of the bus system is simplified without a transmission conflict occurs during operation.
  • the object is achieved by a subscriber station for a bus system with the features of claim 1.
  • the subscriber station comprises a transmitting / receiving device for transmitting a message to / from at least one further subscriber station of the bus system, in which at least temporarily an exclusive, collision-free access of a subscriber station to a bus line of the bus system is ensured, wherein the transmission / Receiving device is designed before sending the message to perform an arbitration up to and including a predetermined bit, which after a
  • Message field is provided, which is provided in the message for establishing the temporary exclusive, collision-free access of a subscriber station to the bus line.
  • the predetermined bit may be the FDF bit and / or the RRS bit of a CAN FD message.
  • the subscriber station may also have one
  • Communication control device for creating a first and / or second message whose data transmission standard differ, wherein the maximum possible data rate of the second message by using a higher clocking in the field of data fields is greater than a maximum possible data rate of the first message.
  • the first message may be a Classic CAN message with a basic format or a Classic CAN message with an extended format and the second message may be a CAN FD message with a basic format or a CAN FD message with an extended format.
  • the transmitting / receiving device is configured to transmit or receive the first and / or second message.
  • the transmitting / receiving device may be configured to optionally send the RRS bit recessively different from the CAN protocol. In this case, it is possible to send the RRS bit recessively from the ISO standard, or when the FDF bit in the CAN FD format was sent recessively, but it appears dominant on the bus line to give up the arbitration.
  • the transmitting / receiving device can also be configured to transmit the FDF bit dominant in the case of a CAN message and to send the FDF bit recessively in the case of a CAN FD message.
  • the transmitting / receiving device can transmit the IDE bit dominant in the case of a basic-format Classic CAN message, and / or to recessively send the SSR bit and the IDE bit in the case of a Classic CAN message with an extended format and the rO-bit is dominant, and / or the RRS bit, the IDE bit, and the res bit are dominant in a basic format CAN FD message, and / or the SRR is a wider format CAN FD message Bit and the IDE bit is recessive and sends the RRS bit and the res bit dominant.
  • the subscriber station described above may be part of a bus system, which also comprises a parallel bus line and at least two subscriber stations, which are connected to one another via the bus line so that they can communicate with each other.
  • at least one of the at least two subscriber stations is a subscriber station described above.
  • the aforementioned object is also achieved by a method for operating a bus system with subscriber stations for different ones
  • a transmitting / receiving device sends a message to / from at least one further subscriber station of the bus system, in which an exclusive, collision-free access of a subscriber station to a bus line of the bus system is ensured at least temporarily, the method comprising the step : Performing an Arbitration Up to and including One
  • predetermined bit which is arranged after a message field (base-ID; ID-ext), which is provided in the message for establishing the temporary exclusive, collision-free access of a subscriber station to the bus line.
  • Subscriber station are called.
  • FIG. 1 is a simplified block diagram of a bus system according to a first embodiment
  • FIG. 2 is an illustration of a structure of a first message in the bus system according to the first embodiment
  • FIGS. 3 and 4 each show an illustration of a structure of a first and second variant of a second message in the bus system according to the first embodiment
  • FIG. 5 is a simplified block diagram of a bus system according to a second embodiment
  • FIG. 6 is an illustration of a structure of a first message in the bus system according to a second embodiment
  • FIGS. 7 and 8 each show an illustration of a structure of a first and second variant of a second message in the bus system according to the second embodiment.
  • bus system 1 shows a bus system 1, which may be, for example, a CAN bus system, a CAN FD bus system, etc.
  • the bus system 1 can be in a vehicle especially a motor vehicle, an airplane, etc., or in the hospital, etc. find use.
  • the bus system 1 has a bus line 3, to which a plurality of subscriber stations 10, 20, 30 are connected. Messages 4, 5, 6 in the form of signals between the individual subscriber stations 10, 20, 30 can be transmitted via the bus line 3.
  • the subscriber stations 10, 20, 30 may be, for example, control devices, sensors, display devices, etc. of a motor vehicle.
  • the subscriber station 10 has a
  • the subscriber station 20 has a communication control device 21 and a transmitting / receiving device 22.
  • the subscriber station 30 has a communication control device 31 and a transmitting / receiving device 32nd
  • the transmitting / receiving devices 12, 22, 32 of the subscriber stations 10, 20, 30 are each directly connected to the bus line 3, even if this is not shown in Fig. 1.
  • the communication control devices 11, 21, 31 each serve to control a communication of the respective subscriber station 10, 20, 30 via the bus line 3 with another subscriber station of the subscriber stations 10, 20, 30 connected to the bus line 3.
  • the communication control device 11 may be like a conventional CAN -
  • the communication control device 11 creates and reads first messages 4, for example Classic CAN messages 4.
  • the Classic CAN messages 4 are constructed in accordance with the Classic basic format in which a number of up to 8 data bytes may be included in the message 4, as shown in FIG 2.
  • the communication controller 21 in FIG. 1 may be implemented like a conventional CAN FD controller.
  • the communication control device 21 generates and reads second messages 5 or 6, for example CAN FD messages 5, 6.
  • the CAN FD messages 5 are connected to the CAN FD message.
  • Basic format constructed in a first variant in which in the message 5, a number of up to 16 bytes of data may be included, as shown in Fig. 3.
  • the CAN FD messages 6 are constructed with the CAN FD basic format in a second variant in which a number of 20 to 64 data bytes may be included in the message 6, as shown in FIG.
  • the communication controller 31 may be configured to provide or receive, as needed, a Classic CAN message 4 or a CAN FD message 5, 6 for the transceiver 32.
  • the communication control device 21 thus creates and reads a first message 4 or second message 5, 6, the first and second messages 4, 5, 6 differing by their data transmission standard, namely CAN or CAN FD in this case.
  • the transceiver 12 may be like a conventional CAN
  • Transceiver be executed.
  • the transceiver 22 may be implemented like a conventional CAN FD transceiver.
  • the transceiver 32 may be configured to provide or receive messages 4 according to the current CAN base format or messages 5, 6 according to the current CAN FD basic format for the communication controller 31 as needed
  • Data rates can be realized as CAN FD.
  • the 2 shows a message 4 sent by the subscriber station 10 in the Classic CAN basic format.
  • the message 4 has an SO F bit 41 and several
  • the arbitration field 42 comprises an identifier of the message 4 in the base ID field.
  • an RTR bit is arranged.
  • the control field 43 starts with an IDE bit, followed by an FDF bit followed by a DLC field.
  • the data field 44 is absent if the DLC field is 0 or the RTR bit is recessive is sent.
  • the checksum field 45 contains a CRC checksum in a CRC-seq field and ends with a subsequent CRC delimiter CRC-Del.
  • the message 4 is created such that the SOF bit, the IDE bit and the FDF bit are dominant, whereas the CRC
  • Delimiter CRC-Del is recessive.
  • the transceiver 12 sends the SOF bit, the IDE bit and the FDF bit dominant and the CRC delimiter CRC-Del recessive.
  • the messages sent in FIG. 2 end the CAN bit arbitration or the arbitration phase 47 at the bit following the last bit of the Identifier comes. Exceptions are stuffing bits (stuff bits).
  • stuffing bits stuff bits
  • the arbitration phase 47 is followed by a data phase 48.
  • the data phase 48 is again followed by the arbitration phase 47.
  • the bit after the last bit of the identifier in the base ID field is the RTR bit.
  • the RTR bit is recessive in a remote message (remote frame), not shown, and dominant in a data message (data frame).
  • a dominant RRS or "reserved bit” is transmitted here in CAN FD messages 5, 6.
  • the RTR bit or RRS-Bi there is a transmitting / receiving device (transmitter) of the transceivers 12 , 22, 32, which sends a recessive bit but instead sees a dominant bit on the bus line 3 as a CAN bus, loses the arbitration and becomes the receiver (receiver).
  • the 3 shows a message 5 transmitted by the subscriber station 20 or 30 with up to 16 data bytes in the CAN FD basic format.
  • the message 5 has a SOF bit 51 and a plurality of message fields, such as an arbitration field 52, a control field 53, a data field 54 and a data field 54
  • the arbitration field 52 comprises in the base I D field an identifier of the message 5.
  • Arbitration field 52 is an R RS bit arranged. Here, too, begins
  • Control field 53 with an I DE bit, followed by an FDF bit but followed by a res bit and a subsequent BRS bit and then an ESI bit followed by a DLC field.
  • the data field 54 is not present if the DLC field of the control field 53 has the value 0.
  • the checksum field 55 includes a stuff count field labeled SC, a CRC checksum in a CRC seq field, and ends with a subsequent CRC delimiter CRC-Del.
  • Arbitration phase 57 is followed by data phase 58 if the BRS bit in message 5 is recessive.
  • the Arbitrationphase 57 lasts longer than previously specified in ISO-CD-11898-1.
  • the arbitration phase 57 partially comprises the control field 53 or, to put it another way, extends partially into the control field 53.
  • the 4 shows a message 6 transmitted by the subscriber station 30 having 20 to 64 data bytes in the CAN FD basic format.
  • the message 6 has a SOF bit 61 and a plurality of message fields, such as an arbitration field 62, a control field 63, a data field 64 and a data field 64
  • Checksum field 65 (CRC field).
  • the arbitration field 62 comprises an identifier of the message 6 in the base I D field
  • Data field 64 and the checksum field 65 is the structure of the message 6 same as the structure of the message 5 of Fig. 3. Also, the arbitration phase 67 is equal to the arbitration phase 57 and the data phase 68 is equal to the data phase 58th
  • the communication controller 21 or 31 has prepared the messages 5, 6 such that the SOF bit, the R RS bit, the IDE bit and the res bit are dominant, whereas the CRC delimiter CRC-Del is recessive.
  • the transceivers 22, 32 send the SOF bit, the RRS bit, the IDE bit, and the res bit to be recessive and the CRC delimiter CRC-Del to be recessive.
  • the above-mentioned dominant and recessive bits are also shown in FIG. 3 and FIG. 4, as described with reference to FIG. 2.
  • the subscriber stations 20, 30 make use of the fact that arbitration phases of all messages are seen by all subscriber stations 10, 20, 30 of the bus system. Consequently, at the subscriber stations 20, 30 for CAN FD messages, the arbitration is up to a predetermined bit, namely until
  • the FDF bit is sent recessively in CAN FD messages 5, 6, dominant in Classic CAN messages 4. If a transceiver 21, 31, which wants to transmit a CAN FD message 5 or 6 and has sent the FDF bit recessively, instead sees a dominant bit on the bus, it will lose the arbitration and become the receiver of one Classic CAN message 4, which was sent for example by the subscriber station 10. This option can be called "FDF arbitration".
  • the bus system 1 can also have a subscriber station which can only generate and transmit CAN FD messages 5 as well as receive and read. It is additionally or alternatively also possible that the bus system 1 also has a subscriber station which can only generate and transmit CAN FD messages 6 and can also receive and read. In such subscriber stations are the
  • FIG. 5 shows a bus system 2 according to a second embodiment
  • the subscriber station 100 has a communication control device 110 and a transceiver 120.
  • the subscriber station 200 has a communication control device 210 and a transceiver 220.
  • the subscriber station 300 has a Communication control device 310 and a transmitting / receiving device 320.
  • Subscriber stations 100, 200, 300 are each directly connected to the bus line 3, although this is not shown in Fig. 5.
  • the bus line 3 although this is not shown in Fig. 5.
  • Subscriber stations 100, 200, 300 are implemented except for the following differences as described in the first embodiment.
  • Subscriber station 100 transmits first messages 7, which is, for example, a Classic Extended Message Format CAN message, as shown in FIG.
  • Subscriber station 200 transmits second messages 8, which may be, for example, a first variant of an extended format CAN FD message, which may include a number of up to 16 bytes of data in message 8, as shown in FIG.
  • the subscriber station 200 may alternatively also send messages 9, which is, for example, a CAN FD message in extended format, in which the message 9 may comprise a number of 20 to 64 data bytes, as shown in FIG.
  • the subscriber station 300 can either send messages 7 or 8 or 9.
  • the message 7 has an SOF bit 71 and several
  • Message fields such as an arbitration field 72, a control field 73
  • the arbitration field 72 includes in the base ID field and the ID ext field an identifier (identifier) of the message 7. Between the base ID field and the ID ext field are each an SRR bit and an IDF - Bit provided. Arranged at the end of the arbitration field 72 is an RTR bit.
  • the control panel 73 starts with a FDF bit followed by an r0 bit.
  • the data field 74 is not present if the DLC field of the control field 73 is 0 or the RTR bit is recessive. Otherwise, the message 7 is constructed in the same way as the message 4 of FIG. 2 and has a corresponding one
  • the communication controller 110 has created the message 7 such that the SOF bit, the FDF bit, and the r0 bit are dominant, whereas the SRR bit, the IDE bit, and the CRC delimiter CRC-Del is recessive.
  • the transceiver 12 transmits the SOF bit, the FDF bit and the rO-bit dominant and the SRR bit, the IDE bit and the CRC delimiter CRC-Del recessive.
  • the message 8 has a SOF bit 81 and several
  • the arbitration field 82 includes an identifier (identifier) of the message 8 in the base ID field and the ID ext field. At the end of the arbitration field 82, an RRS bit is arranged.
  • the control field 83 starts with an FDF bit, followed by a res bit, a BRS bit and an ESI bit.
  • the data field 84 is not present if the DLC field of the control field 83 has the value 0. Otherwise, the message 8 is constructed in the same way as the message 5 of FIG. 3 and has a corresponding arbitration phase 87 and data phase 88.
  • the message 9 has a SOF bit 61 and several
  • the arbitration field 92 comprises in the base ID field an identifier (identifier) of the message 9. With difference of the data field 94 and the
  • Checksum field 95 is the structure of message 9 similar to the structure of message 8 of FIG. 7.
  • the communication controller 210 or 310 has prepared the messages 8, 9 so that the SOF bit, the RRS bit, and the res bit are dominant, whereas the SRR bit, the IDE bit, the FDF bit, and the CRC delimiter CRC-Del are recessive.
  • the transceiver 220, 320 sends the SOF bit, the RRS bit and the res bit dominant, and the SRR bit, the IDE bit, the FDF bit, and the CRC delimiter CRC-Del are recessive.
  • the above-mentioned dominant and recessive bits are also shown in FIGS. 7 and 8, as described with reference to FIG. 2.
  • the arbitration continues until the FDF bit for CAN FD messages.
  • the arbitration in the 29-bit identifiers shown in Figs. 6 to 8 is continued by one bit more than set in the current ISO-CD-11898-1.
  • the FDF bit is sent recessively in CAN FD messages 8, 9, dominant in Classic CAN messages 7. If a transceiver 210, 310 that wants to send a CAN FD message 8 or 9 and has sent the FDF bit recessively sees a dominant bit on the bus instead, it will lose the arbitration and become the receiver of one Classic CAN message 7, which was sent for example by the subscriber station 100.
  • the transceiver 220, 320 may have the option of sending the reserved RRS bit dominant in the current CAN or CAN FD standard must be sent recessive. This option may be called "RRS-recessive.”
  • the predetermined bit is the RRS bit, so the arbitration phase 57, 67, 87, 97 lasts longer than previously specified in ISO-CD-11898-1 , the arbitration phase 57, 67, 87, 97 ends with the arbitration field 52, 62, 82, 92.
  • the RRS bit is interrogated in addition to the FDF bit to determine the result of the arbitration.
  • Subscriber stations 10, 20, 30, 100, 200, 300 and the method may be used individually or in all possible combinations.
  • the bus system 1, 2 described above according to the exemplary embodiments is described on the basis of a bus system based on the CAN protocol.
  • the bus system 1, 2 according to the embodiments may also be another type of communication network. It is advantageous, but not necessarily a prerequisite, that in the bus system 1 at least for certain periods of time an exclusive, collision-free access of a Subscriber station 10, 20, 30, 100, 200, 300 is guaranteed to a common channel.
  • Bus system 1 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • the number and arrangement of the subscriber stations 100, 200, 300 in the bus system 2 of the first embodiment is arbitrary.
  • Subscriber station 20 or 30 in the bus system 1 omitted.
  • the subscriber stations 200 or 300 in the bus system 2 can be omitted. It is also possible for one or more of the subscriber stations 20 or 30 to be present in the bus system 1. It is also possible for one or more of the subscriber stations 200 or 300 to be present in the bus system 2. Subscriber stations 10, 20, 30, 100, 200, 300 may also be present in the bus system 1.

Abstract

L'invention concerne une station participante (20 ; 30 ; 200 ; 300) pour un système de bus (1) et un procédé de fonctionnement d'un système de bus avec des stations participantes (10, 20, 30 ; 100, 200, 300) pour différents standards de transmission de données. La station participante (20 ; 30 ; 200 ; 300) comporte un dispositif d'émission-réception (22 ; 32 ; 220 ; 320) permettant l'émission/la réception d'un message (4 ; 5 ; 6 ; 7 ; 8 ; 9) à destination/en provenance d'au moins une autre station participante du système de bus (1 ; 2), au cours de laquelle au moins temporairement est garanti un accès exclusif, exempt de collision, d'une station participante (10, 20, 30 ; 100, 200, 300) sur une ligne (3) du système de bus (1 ; 2), le dispositif d'émission-réception (22 ; 32 ; 220 ; 320) étant conçu pour effectuer avant l'émission du message (4 ; 5 ; 6 ; 7 ; 8 ; 9) un arbitrage jusqu'à y compris un bit prédéfini qui est disposé après un champ de message (base-ID ; ID-ext) qui est prévu dans le message (4 ; 5 ; 6 ; 7 ; 8 ; 9) pour organiser l'accès temporairement exclusif, exempt de collision d'une station participante (10, 20, 30 ; 100, 200, 300) sur la ligne (3) du bus.
PCT/EP2016/052029 2015-02-09 2016-02-01 Station participante pour un système de bus et procédé de fonctionnement d'un système de bus avec des stations participantes pour différents standards de transmission de données WO2016128238A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015202242.0A DE102015202242A1 (de) 2015-02-09 2015-02-09 Teilnehmerstation für ein Bussystem und Verfahren zum Betrieb eines Bussystems mit Teilnehmerstationen für unterschiedliche Datenübertragungsstandards
DE102015202242.0 2015-02-09

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CN111713074A (zh) * 2017-12-22 2020-09-25 罗伯特·博世有限公司 用于串行总线系统的用户站和用于针对在串行总线系统中接收的消息用信号通知错误的方法
CN113383520A (zh) * 2019-02-01 2021-09-10 罗伯特·博世有限公司 用于总线系统的用户站和用于在总线系统中以不同比特率发送消息的方法

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DE102018202165A1 (de) * 2017-12-22 2019-06-27 Robert Bosch Gmbh Teilnehmerstation für ein serielles Bussystem und Verfahren zum Senden einer Nachricht in einem seriellen Bussystem
DE102018218720A1 (de) 2018-10-31 2020-04-30 Robert Bosch Gmbh Teilnehmerstation für ein serielles Bussystem und Verfahren zum Senden einer Nachricht in einem seriellen Bussystem

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111713075A (zh) * 2017-12-22 2020-09-25 罗伯特·博世有限公司 用于总线系统的用户站和用于在总线系统中以不同比特率发送消息的方法
CN111713074A (zh) * 2017-12-22 2020-09-25 罗伯特·博世有限公司 用于串行总线系统的用户站和用于针对在串行总线系统中接收的消息用信号通知错误的方法
CN113383520A (zh) * 2019-02-01 2021-09-10 罗伯特·博世有限公司 用于总线系统的用户站和用于在总线系统中以不同比特率发送消息的方法
CN113383520B (zh) * 2019-02-01 2023-06-02 罗伯特·博世有限公司 用于总线系统的用户站和用于在总线系统中以不同比特率发送消息的方法

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