With the advent of the concept of fieldbus in the past 20 years, several Fieldbus technologies have appeared and matured. Can bus has been recognized as one of several of the most promising fieldbus. Can is a high-performance serial data local communication network composed of can controller, which is one of the most widely used fieldbus in the world. At first, can was designed as a micro-controller communication in automotive environment, exchanging information between ECU of electronic control devices in vehicle, and forming automobile electronic control network. Because of its fast communication speed, high reliability and good performance and price advantages, it is more widely used in automobiles, machinery industry, textile machinery, agricultural machinery, robotics, CNC machine tools, medical equipment, household appliances and sensors and other fields. Figure 1 shows a typical system diagram of a can bus node.
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