This paper analyzed topology and message frame types of CAN bus and compared the standard frame format and extended frame format.
分析了CAN总线标准的网络拓扑结构、报文帧格式，并对标准帧和扩展帧进行了比较。
The reliability of the protocol can be ensured by use of the frame format, CRC check, and correct function of selecting and sending repeatedly. The protocol can be extended to a certain extent.
通过使用帧方式、CRC校验和选择重发纠错功能保证了协议的可靠性，该协议在一定程度上还可得到扩充。
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