worthsen: ip -d -s link show can0 2: can0: mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 1023 link/can promiscuity 0 can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100 bitrate 500000 sample-point 0.866 tq 133 prop-seg 6 phase-seg1 6 phase-seg2 2 sjw 1 flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1 clock 30000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 RX: bytes packets errors dropped overrun mcast 24098725 3059485 0 0 0 0 TX: bytes packets errors dropped carrier collsns 7024208 903244 0 0 0 0

worthsen: ip -d -s link show can0 2: can0: mtu 16 qdisc pfifo_fast state UNKNOWN mode DEFAULT group default qlen 1023 link/can promiscuity 0 can state ERROR-ACTIVE (berr-counter tx 0 rx 0) restart-ms 100 bitrate 500000 sample-point 0.866 tq 133 prop-seg 6 phase-seg1 6 phase-seg2 2 sjw 1 flexcan: tseg1 4..16 tseg2 2..8 sjw 1..4 brp 1..256 brp-inc 1 clock 30000000 re-started bus-errors arbit-lost error-warn error-pass bus-off 0 0 0 0 0 0 RX: bytes packets errors dropped overrun mcast 24098725 3059485 0 0 0 0 TX: bytes packets errors dropped carrier collsns 7024208 903244 0 0 0 0

2401_83974256: 文章构思巧妙，结构紧凑，既有深度又有广度，读后让人受益匪浅，确实是一篇值得一读的佳作。【我也写了一些相关领域的文章，希望能够得到博主的指导，共同进步！】

雪山垂钓_JoinUser: 180的话是就是RPDO， 从节点上报给主节点的，后面8个字节就是你要上传的数据，具体代表什么数据需要在数据字典中定义

程思扬: 大佬评论的前排!文章内容丰富细致，讲解的很详细，期待大佬后续的文章哦，欢迎大佬来我的博客指导。