从 IEEE 1394总线接收传输流，它能够解码包含一个视频和一个音频的传输流，并在终端显示-IEEE 1394 from the receiving transport stream, It can include a video decoder and an audio transmission flow, and the terminal display

CAN总线驱动。使用的can芯片是MCP2510 使用的是标准帧，模拟SPI时钟信号，能够实现数据的发送，接收。-CAN bus driver. USing MCP2510 chip, and the standard frame, the simulation SPI clock signal, can realize data to send, receive.

接收CAN总线数据，通过消息传递给上层程序。-RECIVE CAN BUS DATA，with msg to up layer program.