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Project development, ideas, and suggestions / Re: uCAN: A protocol stack for microcontroller networking
* What baud rate will be used, and does CANopen allow for automatic baud rate identification?
I'm familiar with CAN, but not CANopen. In the past, with other application layers, I have found that the fact that CAN frames are limited to 8 bytes of data means that your net throughput will be very low, even at 500kb/s. It all depends on what type of data you want to send, but worth bearing in mind.
* Termination is critical. I'm guessing from your schematic that you intend for the user to add a jumper to the two nodes on the end of the 'bus', and remove the jumpers on all the nodes that are on 'stubs'? My experience was with J1939, not CANopen. In J1939, there are several possible physical layers, but they all trade-off baud-rate, bus length, stub length, and maximum number of nodes.
* I've never heard of "sensitive" CAN transceivers. Quite the opposite. A well-designed CAN physical layer should be practically bullet-proof.
* Have you looked at SocketCAN?
In summary, for applications requiring a rock-solid but slow network with a little manual intervention required, I think CAN is a great choice.