CANopen 协议标准，主要用于通讯方面，尤其是在汽车通讯方面应用比较广泛-CANopen protocol standards, mainly for communications, especially in the automotive application of a comprehensive range of communications

CAN总线协议介绍，CANopen代码，自己下载到的打了一个包。-CAN bus protocol descr iption, CANopen Code

详细说明：交通协议，国际ISO交通标准， 实时交通协议， ISO.14819-1-2003.pdf, ISO.14819-2-2003.pdf, ISO.14819-3-2004.pdf ISO.14819-6-2006, Traffic and Traveller Information（TTI），-Transport protocol, real-time transport protocol, ISO.14819-1-2003.pdf, ISO.14819-2-2003.pdf, ISO.

improvement on leach protocol