Embedded Networking with CAN and CANopen
CAN (Controller Area Network) is a serial communication protocol that was originally developed for the automobile industry. CAN is far superior to conventional serial technologies such as RS232 in regards to functionality and reliability and yet CAN implementations are more cost effective. CANopen, a higher layer protocol based on CAN, provides the means to apply the ingenious CAN features to a variety of industrial-strength applications. Many users, for example in the field of medical engineering, opted for CANopen because they have to meet particularly stringent safety requirements. Similar requirements had to be considered by manufacturers of other equipment with very high safety or reliability requirements (e.g. robots, lifts and transportation systems). Providing a detailed look at both CAN and CANopen, this book examines those technologies in the context of embedded networks. There is an overview of general embedded networking and an introduction to the primary functionality provided by CANopen. Everything one needs to know to configure and operate a CANopen network using off-the-shelf components is described, along with details for those designers who want to build their own CANopen nodes. The wide variety of applications for CAN and CANopen is discussed, and instructions in developing embedded networks based on the protocol are included. In addition, references and examples using MicroCANopen, PCANopen Magic, and Vector's high-end development tools are provided.
Why Read This Book
You will learn how CAN and CANopen turn low-cost serial wiring into a robust, deterministic embedded network and how to apply those features to real industrial and automotive systems. The book combines protocol internals, implementation guidance, and practical troubleshooting tips so you can design, implement, and debug reliable CAN/CANopen nodes and networks.
Who Will Benefit
Embedded engineers and firmware developers with some microcontroller experience who need to design, integrate, or troubleshoot CAN- or CANopen-based systems in industrial, automotive, or medical products.
Level: Intermediate — Prerequisites: Basic C programming, familiarity with microcontroller architecture and peripherals, and a working understanding of digital communications and electronics fundamentals.
Key Takeaways
- Explain the CAN physical, data-link, and arbitration mechanisms and choose proper transceivers and bus topologies.
- Configure CAN bit timing, error handling, and arbitration to build reliable, deterministic networks.
- Implement and map CANopen services (SDO, PDO, NMT, SYNC, EMCY, LSS) and design an object dictionary.
- Integrate CANopen device and application profiles and implement node state management and device configuration.
- Use hardware and software tools (analyzers, SocketCAN, Vector/Kvaser tools) to test, trace, and troubleshoot CAN/CANopen networks.
- Design robust gateways and bridges and handle real-world issues like fault containment, timing, and safety requirements.
Topics Covered
- 1. Introduction to CAN: History, Use Cases, and System Benefits
- 2. CAN Physical Layer and Transceivers
- 3. CAN Data Link: Frames, Arbitration, and Error Handling
- 4. Bit Timing, Bus Topology, and Signal Integrity
- 5. CAN Controller Internals and Driver Implementation
- 6. Higher-Layer Concepts and Protocols Overview
- 7. CANopen Architecture and Core Services (SDO, PDO, NMT)
- 8. Object Dictionary, Profiles, and Device Configuration
- 9. Network Management: LSS, Heartbeat, Sync, and Time
- 10. Diagnostics, Emergency Messages, and Safety Considerations
- 11. Tools, Testbeds, and Implementation Examples (SocketCAN, analyzers)
- 12. Gateway Design, Integration with Other Buses, and Case Studies
- 13. Practical Troubleshooting, Optimization, and Best Practices
- Appendices: Common Transceivers, Registers, and Sample Code
Languages, Platforms & Tools
How It Compares
Compared with Wilfried Voss's 'A Comprehensible Guide to CAN' (which focuses tightly on CAN fundamentals) and Konrad Etschberger's automotive-oriented texts, Pfeiffer's book emphasizes practical embedded implementations and the CANopen higher-layer protocol for industrial applications.
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