I need to connect many embedded devices via CAN bus and I am searching for a high layer library/stack that meet the following requirements:

  • Allow up to 100 nodes
  • Transmission of large data chunks (>1Mb) for firmware updates - ok to take minutes for transmission
  • Pull (mandatory) and push (nice to have) communication
  • There are several kinds of nodes that need to be distinguish by the master
  • There might by more than one physical master, but they should make up who is the logical master (only one logical master)
  • Node identification (might be dynamically assigned IDs)
  • Adding and removing nodes during run-time (plug and play)

So far CANopen seems to meet most of these requirements, but I would like more suggestions.

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