本文將介紹CAN 總線節點的設計以及在實時操作系統Small RTOS51 下CAN 總線的數據接收與發送原理。讀者通過閱讀本文可以了解一個CAN 節點的設計過程， CAN 總線接口驅動程序的編寫以及實時操作系統Small RTOS51 簡單應用。
關鍵詞 CAN 總線；Small RTOS51；實時操作系統；SJA1000
Incepting and sending data of CAN bus with Small RTOS51 WANG Gong-cui1 ZHANG Xiu-juan1 JIA Shi-sheng2 (1.Institude of Science and Engineering , Shandong University of Science and Technology, Shandong Qingdao 266510, China 2.DEPT. of Electro-mechanical Engineering , , Shandong University of science and technology, Shandong Taian 266510, China) Abstract：This Article will introduce how to design one CAN bus note and the CAN bus how to incept and send data with Small RTOS51. Readers can know the designing process of one CAN bus note, how to write the drive programme of the CAN bus interface and the application of Small RTOS51.
Key Words：CAN Bus; Small RTOS51; Real Time OS; SJA1000