1.　　先看看协议介绍，周立功网站上有些；对CANopen有个大致了解，分析一下是否适合自己的方案应用。

2.去cia下载301协议看看

3.下载个简单的协议栈代码(论坛上有),结合协议文件仔细分析，并把它移植到你的DSP上。

4.根据功能要求编写和完善自己的协议栈。

-1. Take a look at the agreement, the site some weeks Ligong　of CANopen has a broad understanding and analysis of the suitability of the application of its own program. 2. Cia download 301 agreement to look at the 3. Download a simple code of the protocol stack (Forum), combined with careful analysis of the agreement document and transplant it on to your DSP. 4. In accordance with the functional requirements of the preparation and perfection of their own protocol stack. ,,