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unsigned int | ReqID |
| 请求报文ID
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unsigned int | ResID |
| 应答报文ID
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unsigned char | Flag |
| bit[0]-帧类型(0-标准帧,1-扩展帧),bit[1]-FDF(0-普通CAN帧,1-CANFD帧),bit[2]-BRS(0-CANFD帧不加速,1-CANFD帧加速),bit[7]-自动根据发送数据长度选择最合适的DLC值
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unsigned char | AddrFormats |
| 0-normal, 1-extended ,2-mixed
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unsigned char | AddrExt |
| 当AddrFormats不为normal时,该数据放到CAN数据域第1字节
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unsigned char | MaxDLC |
| 普通CAN设置为8,CANFD帧可以最大设置为64
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