CAN2.0转串口通讯，有输入输出节点号的分配以及循环发送数据的设置。-CAN2.0 to serial communication, there is the distribution of input and output node number and cycle settings for sending data.

通过SPI口 控制CAN2.0 总线MCP2515控制器 工作。-Through the SPI port control CAN2.0 bus MCP2515 controller to work.

通讯的物理介质为双绞线，通讯波特率为250kbps，采用CAN2.0B支持扩展帧，intel格式，TCU无需自带120欧姆终端电阻，通讯网络基于SAEJ1939协议。(The physical medium of communication is twisted pair, the communication baud rate is 250kbps, CAN2.0B supports extended frame, Intel format, TCU does not need 120 ohm