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C2000 eCAN

      我在用F2812开发CANOPEN(收发芯片:TJA1050)的过程中,遇到一些疑问:比如一个总线上面有AB两个节点,波特率设为1MHzA发送,B接收。是不是只要数据格式正确,不管A发送什么帧,不管ABID是否匹配,B在帧的结尾都发送ACK吗?