本文中所介绍的CAN 高层通信协议，结构简单、使用灵活、可靠性极高，实现也比较容易。很适合在节点数不多、通信可靠性要求高、控制结构较简单的小型控制系统中应用，具有一定的实用价值。(The CAN high level communication protocol introduced in this paper is simple in structure, flexible in use, high in reliability and easy to implement. It's good