说明：  参考ti提供得例子程序，先将他们得例子在自己得板子上跑起来，其实就是用自测试得方式来验证一下程序，也可以加些中断，看看程序怎么跑得。这步没问题得话，可以改写程序，当然还在自测试模式下先试，如果可以改写后，在自测试模式下可以。那么就差不多了，将自测试模式改成正常模式，将程序移植到自己得程序中，拿一个经过验证可以正常通讯得can模块通讯，记得两个can得速率要一致。当然这个can模块还要能让你看到或者说能验证你得can是否通讯正常。
(Reference ti provide examples of procedures was, first they have to run up on the example of the board that she has, in fact, self-test was used to verify the program mode, you can also add some interruption to see how to run the program. This step was not a problem, you can rewrite the program, of course, still in test mode since the first try, if you can rewrite, can in self-test mode. Well almost, the self-test mode to normal mode, the program was ported to own program, get a proven module can communicate normally too can communicate, remember that two can get a rate to be consistent. Of course, this can also allow you to see the module or can verify whether you have can communicate properly.)