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 for the festival
The application of small control system with few points, high reliability and simple control structure has certain practical value.)