What literature or manuals to read about CAN (Controller Area Network)?

Question

linux

I would like to learn how to work with CAN, first write a simple program in CPP (Java if possible). I will test on BeagleBone Black. Please throw material or push where to start. Thank you all in advance.

Answer 1

By itself, CAN is just a transport, to which there is just a library that just works: they sent bytes - they received bytes, there was an error - they processed it. That is, at the application level, from the specifics, one can only note a clear separation of device priorities - when a message with a high priority arrives, it does not encounter collisions, "crushing" them.
From the physical side, there is also little interesting, but studying the protocol here will require the presence of:
1) Pairs of real devices with real CAN - experimental specimens
2) A digital storage oscilloscope, or a set-top box to a computer - these are the eyes of the experimenter, without it (at worst - a logic analyzer) one can not meddle with the interfaces. An analog oscilloscope is of little use here - except to see the shape of the signals, but to make out which bits swept through it - alas - will not work.
As for developing for a controller in Java, this is a purely applied language with an abstraction from real hardware, so writing system software on it is nonsense.
An interesting publication in which a lot of interfaces are dismantled - www.ozon.ru/context/detail/id/18559835