51+SJA1000+PA82C250构成的CAN节点，这是一个自收发的程序，程序是在硬件上运行通过的，没有问题的，里面有详细的注释，方便理解。可以为学习的提过一个参考。-51+ SJA1000+ PA82C250 posed CAN node, This is a self-transceiver procedures, procedures are adopted in the hardware to run on, and the