New Crowdin translations - zh-CN (#26148)

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docs/zh/can/index.md

@@ -1,7 +1,13 @@
-# CAN
+# CAN (DroneCAN & Cyphal)
 
-[控制器局域网（CAN）](https://en.wikipedia.org/wiki/CAN_bus)是一种可靠的有线网络，它能让诸如飞行控制器、电调、传感器及其他外设等无人机组件相互通信。
-它被设计为分布式架构，使用差分信号，即使在较长的电缆 (大型车辆上) 上也非常强大，避免单点故障。
+[Controller Area Network (CAN)](https://en.wikipedia.org/wiki/CAN_bus) is a robust wired network that allows drone components such as flight controller, ESCs, sensors, and other peripherals, to communicate with each other.
+
+It is particularly recommended on larger vehicles.
+
+## 综述
+
+CAN it is designed to be democratic and uses differential signaling.
+For this reason it is very robust even over longer cable lengths (on large vehicles), and avoids a single point of failure.
 CAN 还允许来自外设的状态反馈，并通过总线方便的进行固件升级。
 
 PX4 支持与 CAN 设备通信的两个软件协议：
@@ -18,29 +24,36 @@ DroneCAN 和 Cyphal 都是早先一个叫做UAVCAN的项目。
 这两项协议之间的差异在[Cyphal vs. DroneCAN](https://forum.opencyphal.org/t/cyphal-vs-dronecan/1814)中作了概述。
 :::
 
-:::warning
 PX4不支持KDECAN等无人驾驶飞机的其他CAN软件协议(撰写时)。
-:::
 
 ## 布线
 
 CAN 网络的接线对于 DroneCAN 和 Cyphal/CAN 是一样 (实际上对所有的 CAN 网络都一样)。
 
-设备以任意顺序连接成链。
+Devices within a network are connected in a _daisy-chain_ in any order (this differs from UARTs peripherals, where you attach just one component per port).
+
+:::warning
+Don't connect each CAN peripheral to a separate CAN port!
+Unlike UARTs, CAN peripherals are designed to be daisy chained, with additional ports such as `CAN2` used for [redundancy](redundancy).
+:::
+
 在链的任一端，应该在两个数据线之间连接一个 120Ω 的终端电阻。
 飞控和一些 GNSS 模块为了方便使用内置了终端电阻， 因此应该放在链的终端。
 否则，你可以使用终端电阻，比如 [Zubax Robotics 的这款](https://shop.zubax.com/products/uavcan-micro-termination-plug?variant=6007985111069)。如果你有JST - GH压接工具，也可以自己焊接一个。
 
 下图显示了一个 CAN 总线连接飞控到 4 个 CAN 电调和一个 GNSS 的示例。
+It includes a redundant bus connected to `CAN 2`.
 
 ![CAN 布线](../../assets/can/uavcan_wiring.svg)
 
 图中未显示任何电源接线。
 参考制造商的说明，确认组件是否需要单独供电，还是可以通过 CAN 总线供电。
 
+:::info
 For more information, see [Cyphal/CAN device interconnection](https://wiki.zubax.com/public/cyphal/CyphalCAN-device-interconnection?pageId=2195476) (kb.zubax.com).
 虽然本文是以 Cyphal 协议为基础编写的，但同样适用于 DroneCAN 硬件和任何其他 CAN 设置。
 如需了解更复杂的场景，请参考 [论CAN总线拓扑结构与终端匹配](https://forum.opencyphal.org/t/on-can-bus-topology-and-termination/1685)。
+:::
 
 ### 连接器
 
@@ -54,7 +67,30 @@ Pixhawk标准兼容的 CAN 设备使用 4 引脚的 JST-GH 连接器为 CAN。
 
 DroneCAN 和 Cyphal/CAN支持使用第二个(冗余) CAN 接口。
 这是完全可选的，但会增加连接的强度。
-所有Pixhawk飞行控制器都带有两个CAN接口； 如果您的外围设备也支持 2 CAN 接口，建议您同时进行电线连接以提高安全。
+
+Pixhawk flight controllers come with 2 CAN interfaces; if your peripherals support 2 CAN interfaces as well, it is recommended to wire both up for increased safety.
+
+### Flight Controllers with Multiple CAN Ports
+
+[Flight Controllers](../flight_controller/index.md) may have up to three independent CAN ports, such as `CAN1`, `CAN2`, `CAN3` (neither DroneCAN or Cyphal support more than three).
+Note that you can't have both DroneCAN and Cyphal running on PX4 at the same time.
+
+:::tip
+You only _need_ one CAN port to support an arbitrary number of CAN devices using a particular CAN protocol.
+Don't connect each CAN peripheral to a separate CAN port!
+:::
+
+Generally you'll daisy all CAN peripherals off a single port, and if there is more than one CAN port, use the second one for [redundancy](redundancy).
+If three are three ports, you might use the remaining network for devices that support another CAN protocol.
+
+The documentation for your flight controller should indicate which ports are supported/enabled.
+At runtime you can check what DroneCAN ports are enabled and their status using the following command on the [MAVLink Shell](../debug/mavlink_shell.md) (or some other console):
+
+```sh
+uavcan status
+```
+
+Note that you can also check the number of supported CAN interfaces for a board by searching for `CONFIG_BOARD_UAVCAN_INTERFACES` in its [default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/fmu-v6xrt/default.px4board#) configuration file.
 
 ## 固件