CAN and CANopen® Books available in English
Embedded Networking with CAN and CANopen
by Olaf Pfeiffer, Andrew Ayre, Christian Keydel, 2003
www.CANopenBook.com
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amazon.com Controller Area Network
by Konrad Etschberger, 2001
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amazon.com CAN System Engineering: From Theory to Practical Applications
by Wolfhard Lawrenz, 1997
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amazon.com