https://wenku.baidu.com/view/486647f47c1cfad6195fa794.html
https://www.cnblogs.com/jacklu/p/4729638.html
https://mp.weixin.qq.com/s?__biz=MzI4MDI4MDE5Ng==&mid=2247486096&idx=1&sn=622b722bf9098a43cb00f7ff02a7c322&chksm=ebbba77bdccc2e6dc74162b459e5f4c5c74240eba1dbf63dd45543c8a1c876ffbbe800f56821&scene=21#wechat_redirect
//开源can协议 CANFestival
https://github.com/CANopenNode/CANopenSocket