主要介绍如何搭建一个基于CAN总线的卡车总线控制系统，其中包括了四个基于CAN高层协议开发的ECU。是以实际项目应用构造为主要目的。-Mainly on how to build a truck based on the CAN bus control system bus, including four high-level CAN protocol development based on the ECU. Structure is based on actual project the primary purpose of the application.