CAN Primer http://www.keil.com/download/docs/385.asp Cortex Microcontroller Software Interface Standard (CMSIS) http://www.onarm.com/download/download382.asp STM32 product page http://www.st.com/mcu/inchtml-pages-stm32.html MicroCANopen http://www.canopenstore.com/pip/microcanopen.html RTX51Tiny http://www.keil.com/rtx51tiny/ CooCox OS http://www.coocox.org/