查看TSLA的源代码

== CAN Frame ==

[[文件:CAN-frame-msg.png]]

* '''SOF:''' The Start of Frame is a 'dominant 0' to tell the other nodes that a CAN node intends to talk
* '''ID:''' The ID is the frame identifier - lower values have higher priority
* '''RTR:''' The Remote Transmission Request indicates whether a node sends data or requests dedicated data from another node
* Control: The Control contains the Identifier Extension Bit (IDE) which is a 'dominant 0' for 11-bit. It also contains the 4 bit Data Length Code (DLC) that specifies the length of the data bytes to be transmitted (0 to 8 bytes)
* Data: The Data contains the data bytes aka payload, which includes CAN signals that can be extracted and decoded for information
* CRC: The Cyclic Redundancy Check is used to ensure data integrity
* ACK: The ACK slot indicates if the node has acknowledged and received the data correctly
* EOF: The EOF marks the end of the CAN frame


命令行 Send 时，常需指定的就两个： ID 和 Data，12Bit 和 8 Bytes

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