Posted on November 10, 2012 at 07:33 thank you Jack Peacock i read many pdf about canopen before that was from cia (can in automation) now i know different between can and canopen.but i dont know how i can use a can device as can open device (like stm32f107). is it possible? how we can make HLP (Higher Layer Protocol based) in software? and is there any lib or source for stm that do this work? alireza roozitalab