Canopen协议栈的实现，可以供大家参考-the realization protocol stack, for your reference

设计了一个基于51单片机的CAN节点，实现TTCAN的功能，同时可以实现两个CAN节点的相互通信。-Designed a microcontroller based CAN node 51 to achieve TTCAN functions, can be achieved at the same time the two CAN nodes communicate with each other.

Vector公司提供的CCP协议(CAN Calibration Protocol)的ECU驱动。-CAN Calibration Protocol is used in auto indust. especially for ecu software.

TTCAN Spec Brief History • Developed by Bosch • Standardized in ISO 11898 • First deployed in 1986 • Used in: – Automotive applications – Industrial automation – Embedded systems-TTCAN