USB-CAN Bus Interface
Mosebetsi oa Sehokelo sa Adapter
Litaelo tsa Basebelisi ba Laebrari
KAROLO E MOHOLOVIEW
Haeba mosebelisi a sebelisa adaptara ea libese tsa USB-CAN ho ea tekong ea puisano ea libese ea CAN, a ka sebelisa software e fanoeng ea USB-CAN Tool ka kotloloho ho romella le ho amohela data ea tlhahlobo.
Haeba mosebelisi a ikemiselitse ho ngola lenaneo la software bakeng sa lihlahisoa tsa hae. Ka kopo bala litaelo tse latelang ka hloko 'me u nke litšupiso ho sampre fana ka khoutu:
⑴ C++Builder ⑵C# ⑶VC ⑷VB ⑸VB.NET ⑹Delphi ⑺LabVIEW ⑻ LabWindows/CVI ⑼Matlab ⑽QT ⑾Python/Python-can.
Ntlafatsa laebrari file : ControlCAN.lib, ControlCAN.DLL
Phatlalatso ea mosebetsi oa VC file : ControlCAN.h
Phatlalatso ea mosebetsi oa VB file: ControlCAN.bas
LabVIEW mojule oa sephutheloana sa mosebetsi oa laebrari: ControlCAN.llb
Phatlalatso ea ts'ebetso ea mofuta oa Delphi file: ControlCAN.pas
KAROLO YA BOBEDI LAEBRARI YA MOSEBETSI E SEBETSANG LE SEBOPEHO SA DATA
2.1. TLHALOSO MOFUTA
2.1.1. Mofuta oa Sesebelisoa
| Tlhaloso ea Mofuta | Boleng ba mofuta | Tlhaloso |
| DEV_USBCAN2 | 4 | USBCAN-2A/USBCAN-2C/CANalyst-II MiniPCIe-CAN |
2.1.2. VCI_BOARD_INFO
Sebopeho sa VCI_BOARD_INFO se na le tlhaiso-leseling ea karete ea karete ea USB-CAN Series.
Sebopeho se tla tlatsoa mosebetsing oa VCI_ReadBoardInfo.
Setho:
hw_Version
Nomoro ea mofuta oa Hardware, notation ea hexadecimal. Mohlala 0x0100 e emetse V1.00.
fw_Version
Nomoro ea mofuta oa Hardware, notation ea hexadecimal. Mohlala 0x0100 e emetse V1.00.
Leqephe la 2
dr_Version
Nomoro ea mofuta oa mokhanni, notation ea hexadecimal. Mohlala 0x0100 e emetse V1.00.
ho_Phetolelo
Nomoro ea pokello ea li-interface, notation ea hexadecimal. Mohlala 0x0100 e emetse V1.00.
irq_Num
Sistimi e bolokiloe.
ka_Num
E emela kakaretso ea palo ea kanale ea CAN.
str_Seriale_Num
Nomoro ea seriale ea karete ena ea boto.
str_hw_Mofuta
Mofuta oa Hardware, joalo ka “USBCAN V1.00” (Tlhokomeliso: E kenyelelitse sethibelo sa likhoele '\0').
Reserved
Sistimi e bolokiloe.
2.1.3. VCI_CAN_OBJ
Mesebetsing ea VCI_Transmit le VCI_Receive, sebopeho sa VCI_CAN_OBJ se sebelisetsoa ho fetisa molaetsa oa CAN.
Setho:
ID
Sekhetho sa molaetsa. Sebopeho sa ID e tobileng, e hokahane le ho le letona, ka kopo sheba ho: Sehlomathiso sa Pele: Lintlha tsa Tokiso ea ID.
NakoStamp
Ho amohela Stamp tlhahisoleseding ea nako ea nako, qala nako ha molaoli oa CAN a qalisoa, yuniti ke 0. 1ms.
NakoFlag
Mabapi le hore na ho sebelisoa nako stamp, 1 ke nako e sebetsang ea TimeStamp. TimeFlag le TimeStamp li na le moelelo feela ha foreimi e amoheloa .
SendType
Mofuta oa ho romela. = 0 e supa Mofuta o Tlwaelehileng, = 1 e bontsha ho Romela Motho a le Mong.
RemoteFlag
Hore na ke folakha e hole. = 1 e bonts'a folakha e hole, = 0 e bonts'a folakha ea data.
ExternFlag
Hore na ke folakha e kantle. = 1 e bontša folakha ea ka ntle, = 0 e bontša folakha e tloaelehileng.
DataLen
Bolelele ba data(<=8) ，ke hore, bolelele ba data.
Lintlha
Lintlha tsa pakete.
Reserved
Sistimi e bolokiloe.
2.1.4. VCI_INIT_CONFIG
Sebopeho sa VCI_INIT_CONFIG se hlalosa tlhophiso ea ho qala ea CAN. Sebopeho se tla tlatsoa mosebetsing oa VCI_InitCan.
Setho:
AccCode
Fumana khoutu ea kamohelo e tlhotliloeng.
AccMask
Fumana mask a filthara.
Reserved
Reserved.
Sefe
Mokhoa oa ho sefa, o lumellang boemo ba 0-3, sheba karolo ea 2.2.3 ea tafole ea mokhoa oa filthara bakeng sa lintlha.
Nako0
SJA1000 Baud tekanyo parameter, Timing0 (BTR0) .
Nako1
SJA1000 Baud tekanyo parameter, Timing1 (BTR1) .
Mokhoa
Mokhoa oa ho sebetsa, 0 = ts'ebetso e tloaelehileng, 1 = Mokhoa oa ho mamela feela, 2 = ho kena ka tšohanyetso le mokhoa oa ho romela teko.
Maikutlo:
Mabapi le litlhophiso tsa sefe ka kopo, sheba ho: Sehlomathiso II: Litaelo tsa ho seta tsa CANparameter.
CAN Timing0 le Timing1 li sebelisoa ho beha sekhahla sa baud, mekhahlelo ena e 'meli e sebelisoa feela qalong ea ho qala.tage.
Tafole ea litšupiso e tloaelehileng ea Baud:
| CAN Baud sekhahla | Nako0(BTR0) | Nako1(BTR1) |
| 10k bps | 0x31 | 0x1C |
| 20k bps | 0x18 | 0x1C |
| 40k bps | 0x87 | 0xFF |
| 50k bps | 0x09 | 0x1C |
| 80k bps | 0x83 | 0xFF |
| 100k bps | 0x04 | 0x1C |
| 125k bps | 0x03 | 0x1C |
| 200k bps | 0x81 | 0xFA |
| 250k bps | 0x01 | 0x1C |
| 400k bps | 0x80 | 0xFA |
| 500k bps | 0x00 | 0x1C |
| 666k bps | 0x80 | 0xB6 |
| 800k bps | 0x00 | 0x16 |
| 1000k bps | 0x00 | 0x14 |
| 33.33 Kbps | 0x09 | 0x6F |
| 66.66 Kbps | 0x04 | 0x6F |
| 83.33 Kbps | 0x03 | 0x6F |
- Basebelisi ba hloka feela ho latela SJA1000 (16MHz) ho beha paramethara ea sekhahla sa Baud.
- Adapter ha e tšehetse sekhahla sa Baud sa nakoana ka tlase ho 10K.
2.2. TLHALOSO EA MOSEBETSI
2.2.1. VCI_OpenDevice
Mosebetsi ona o sebelisetsoa ho hokahanya lisebelisoa.
DWORD __stdcall VCI_OpenDevice(DWORD DevType,DWORD DevIndex,DWORD Re Reserved);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
Reserved
Mekhahlelo ea ho boloka, tlatsa 0.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
2.2.2. VCI_CloseDevice
Ts'ebetso ena e sebelisoa ho koala khokahano.
DWORD __stdcall VCI_CloseDevice(DWORD DevType,DWORD DevIndex);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
2.2.3. VCI_InitCan
Ts'ebetso ena e sebelisoa ho qala CAN e boletsoeng.
DWORD __stdcall VCI_InitCAN(DWORD DevType, DWORD DevIndex, DWORD CANIndex,
PVCI_INIT_CONFIG piNitConfig);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN channel index, joalo ka ha ho na le kanale e le 'ngoe feela ea CAN, nomoro ea index ke 0, haeba li le peli, nomoro ea index e ka ba 0 kapa 1.
piNitConfig
Sebopeho sa parameter ea ho qala. Lethathamo la litho tsa paramethara:
| Setho | Tlhaloso ea Ts'ebetso |
| pInitConfig-> AccCode | AccCode le AccMask li ka sebetsa 'moho ho fumana hore na ke lipakete life tse ka amoheloang. Lingoliloeng tsena tse peli li sebelisetsoa ho beha ID e hokahane le letšehali, ke hore, karolo e phahameng ka ho fetisisa (Bit31) ea AccCode le AccMask e tsamaisana le boleng bo phahameng ka ho fetisisa ba ID. |
| pInitConfig-> AccMask | Mabapi le lihlomathiso tse amanang le ID: Sehlomathiso sa I: Lintlha tsa ho hokahanya ha ID. Mohlala: Haeba u beha boleng ba AccCode joalo ka 0x24600000 (ke hore 0x123 e fetisetsoa ka letsohong le letšehali ke likotoana tse 21), boleng ba AccMask e behiloe ho 0x00000000, ebe ke lipakete feela tse nang le ID ea molaetsa oa CAN ke 0x123 e ka amoheloa (boleng ba AccMask ba 0x00000000 bo bontša hore likotoana tsohle li bohlokoa. |
| likotoana). Haeba boleng ba AccCode bo behiloe ho 0x24600000, boleng ba AccMask bo behiloe ho 0x600000 (0x03 e fetisetsoa ka ho le letšehali ka likotoana tse 21), 'me ke lipakete feela tse nang le ID ea molaetsa oa CAN ke 0x120 ~ 0x123 e ka amoheloa (boleng ba AccMask. 0x600000 e bontša hore ntle le bit0 ~ bit1 likotoana tse ling (bit2 ~ bit10) li bohlokoa hanyane). Hlokomela: Tlhophiso ena ea mohlamples ho foreimi e tloaelehileng, mohlalaample, 11-bit e phahameng ke karolo e nepahetseng; tabeng ea foreimi e atolositsoeng, 'me joale ID e nepahetseng ke 29-bit. AccCode le AccMask li behile 29-bit e phahameng joalo ka eona e sebetsang! |
|
| pInitConfig-> E bolokiloe | boloketsoe |
| pInitConfig-> Sefa | Litlhophiso tsa mokhoa oa ho sefa ka kopo sheba karolo ea tafole ea mokhoa oa ho sefa. |
| pInitConfig-> Nako0 | Baud rateT0 setting |
| pInitConfig-> Nako1 | Baud rateT1 setting |
| pInitConfig-> Mokhoa | Mokhoa o sebetsang: 0-ts'ebetso e tloaelehileng 1-Mokhoa oa ho mamela feela 2-kamoo ea ho kena le ho romela teko (boleng bona ha bo kenyelelitsoe laebraring ea ts'ebetso ea ZLG) |
Lethathamo la mokhoa oa ho hloekisa:
| Boleng | Lebitso | Tlhaloso |
| 1 | Amohela mefuta eohle | E loketse ka bobeli foreimi e tloaelehileng le e atolositsoeng! |
| 2 | Fumana feela foreimi e tloaelehileng | E loketse foreimi e tloaelehileng, 'me e atolositsoe |
| foreimi e tla tlosoa ka ho sefa ka kotloloho! | ||
| 3 | Fumana feela foreimi e atolositsoeng | E loketse foreimi e atolositsoeng, 'me foreimi e tloaelehileng e tla tlosoa ka ho sefa ka kotloloho! . |
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
Mohlala
2.2.4. VCI_ReadBoardInfo
Ts'ebetso ena e sebelisetsoa ho bala lintlha tsa li-adapter hardware. Ka kakaretso, e ka hlokomolohuoa.
DWORD __stdcall VCI_ReadBoardInfo(DWORD DevType,DWORD
DevIndex,PVCI_BOARD_INFO pInfo);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB- CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0. pInfo
VCI_BOARD_INFO e sebelisoa ho boloka sesupa sa boitsebiso ba sesebelisoa.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
2.2.5. VCI_GetReceiveNum
Tshebetso ena e sebedisetswa ho hlakisa tse amohetsweng empa ha eso balwe diforeimi ho buffer e kgethilweng.
DWORD __stdcall VCI_GetReceiveNum(DWORD DevType,DWORD DevIndex,DWORD CANIndex);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN lenane la likanale.
E khutlisa:
Khutlisetsa liforeimi tse so kang li baloa.
Mohlala
# kenyeletsa "ControlCan.h" int ret=VCI_GetReceiveNum(2,0,0);
2.2.6. VCI_ClearBuffer
Ts'ebetso ena e sebelisetsoa ho hlakola sebaka sa ho amohela le ho romela buffer ea mocha o khethiloeng ke
Adapter ea USB-CAN.
DWORD __stdcall VCI_ClearBuffer(DWORD DevType,DWORD DevIndex,DWORD CANIndex);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN lenane la likanale.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
2.2.7. VCI_StartCAN
Ts'ebetso ena e sebelisetsoa ho qala molaoli oa CAN le ts'ebetso ea ho amohela tšitiso ea kahare ea adaptara.
DWORD __stdcall VCI_StartCAN(DWORD DevType,DWORD DevIndex,DWORD CANIndex);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN lenane la likanale.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
2.2.8. VCI_ResetCAN
Ts'ebetso ena e sebelisoa ho seta setaolo sa CAN bocha.
DWORD __stdcall VCI_ResetCAN(DWORD DevType,DWORD DevIndex,DWORD CANIndex);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN lenane la likanale.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
2.2.9. VCI_Transmit
Ts'ebetso ena e sebelisoa ho romella foreimi ea molaetsa oa CAN.
DWORD __stdcall VCI_Transmit(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pSend,DWORD Length);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN lenane la likanale. pSend
Aterese ea pele ea liforomo tsa data tse lokelang ho romelloa.
Bolelele
Palo ea liforeimi tsa data tse lokelang ho romelloa, palo e kholo ke 1000, boleng bo khothalelitsoeng ke 48 tlasa lebelo le phahameng.
E khutlisa:
Khutlisetsa palo ea sebele ea liforeimi tse seng li rometsoe, boleng ba ho khutlisa = -1 bo bontša phoso ea sesebelisoa.
Mohlala
2.2.10. VCI_Amohela
Mosebetsi ona o sebelisetsoa ho kopa kamohelo.
DWORD __stdcall VCI_Receive(DWORD DevType, DWORD DevIndex, DWORD CANIndex, PVCI_CAN_OBJ pReceive, ULONG Len, INT WaitTime);
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
CANIndex
CAN lenane la likanale.
amohela
Ho amohela sesupa sa pele sa liforeimi tsa data.
Len
Bolelele ba moralo oa data bo tlameha ho feta 2500 ho khutlisa molaetsa o tloaelehileng.
Ho seng joalo, bolelele ba ho khutla bo tla ba zero hore na molaetsa o amohetsoe kapa che. adaptara e behile buffer ea liforeimi tse 2000 bakeng sa kanale e 'ngoe le e 'ngoe. Ho ipapisitsoe le sistimi ea hae le tikoloho eo a sebetsang ho eona, mosebelisi a ka khetha bolelele bo loketseng ho tloha ho 2500.
WaitTime Reserved.
E khutlisa:
Khutlisetsa palo ea liforeimi tse hlileng li baliloeng, -1 e bontša liphoso tsa lisebelisoa.
Mohlala
KAROLO EA BORARO MESEBETSI E MONG LE TLHALOSO EA SEBOPEHO SA DATA
Khaolo ena e hlalosa mefuta e meng ea data le mesebetsi ea laebrari e sa lumellaneng ea ZLG e fumanehang ho laeborari ea sebopeho sa adaptara ea USB-CAN ControlCAN.dll. Ke kopa o etse joalo
u se ke ua bitsa mesebetsi ena haeba u sebelisa mohlala o lumellanang oa ZLG bakeng sa nts'etsopele ea bobeli e le hore e se ke ea ama ho lumellana.
3.1 TLHALOSO EA MOSEBETSI
3.1.1. VCI_UsbDeviceReset
Seta hape adaptara ea USB-CAN, e hloka ho bula sesebelisoa hape ka mor'a ho se etsa bocha ka VCI_OpenDevice.
DWORD __stdcall VCI_UsbDeviceReset(DWORD DevType,DWORD DevIndex,DWORD Reset
Litlhophiso:
DevType
Mofuta oa sesebelisoa. Bona: Tlhaloso ea mofuta oa sesebelisoa sa Adapter.
DevIndex
Device Index, bakeng sa mohlalaample, ha ho na le adaptara e le 'ngoe feela ea USB-CAN, nomoro ea index ke 0, ha ho na le li-adapter tse ngata tsa USB-CAN, linomoro tsa index ka tatellano e nyolohang ho tloha ho 0.
Re bololetsoe.
E khutlisa:
Boleng ba ho khutlisa = 1, ho bolelang hore ts'ebetso e atlehile; = 0 e bontsha hore tshebetso e hlolehile; = -1 e bontša hore sesebelisoa ha se eo.
bRel = VCI_UsbDeviceReset(nDeviceType, Independence, 0);
3.1.2. VCI_FindUsbDevice2
Ha komporo e tšoanang e sebelisa USB-CAN e mengata, mosebelisi a ka sebelisa ts'ebetso ena ho fumana sesebelisoa sa hajoale.
DWORD __stdcall VCI_FindUsbDevice2(PVCI_BOARD_INFO pInfo);
Litlhophiso:
pInfo
pInfo e sebelisoa ho boloka litekanyetso tsa sebaka sa pele sa aterese ea buffer ea data.
E khutla
Khutlisetsa nomoro ea adaptara ea USB-CAN e hoketsoeng komporong.
Karolo ea bone ea Mesebetsi ea Laebrari ea Likamano tse Sebelisang Ts'ebetso
Bakeng sa ho atisa ts'ebetso ea sesebelisoa, re fane ka mesebetsi e meng (mesebetsi e hlahisitsoeng ka bokapele bo botala), mesebetsi ena e kenyelletsa: VCI_FindUsbDevice2 VCI_UsbDeviceReset. Nakong ea tsoelo-pele ea bobeli, mesebetsi ena ha ea lokela ho sebelisoa. Le mesebetsi ena e hlokomolohuoa, mesebetsi eohle ea adaptara ea USB-CAN e ka finyelloa.
www.waveshare.com
www.waveshare.com/wiki
Litokomane / Lisebelisoa
 |
WAVESHARE USB-CAN Bus Inter face Adapter Interface Function Library [pdf] Buka ea Taelo USB-CAN Bus Interface Laeborari ea Mosebetsi oa Adapter, USB-CAN, Laeborari ea Ts'ebetso ea Bus Interface, Library ea Mosebetsi oa Sehokelo, Laeborari ea Mosebetsi |
