The Java']Java CAN API -: A Java']Java gateway to fieldbus communication

Object oriented problem analysis and software design is getting more and more common in the field of industrial control. In this paper we present the Java CAN API which provides a convenient, object oriented programming framework for rapid CAN fieldbus tool development. Ir provides a hierarchy of classes and interfaces to access arbitrary CAN/CANopen devices via the Java Native Interface. In order to access Windows-based CAN drivers a native dynamic link library has been developed featuring high performance message filtering and asynchronous message notification. The created Java class hierarchy encapsulates the CANopen layer 7 communication objects as well as generic CAN layer 2 messages. Further classes provide access to the CANopen network management services. This paper also briefly presents some practical uses of the Java CAN API for teleservice, distance education and CAN system management.