Pavel Pisa CTU pisa@cmp.felk.cvut.cz Frantisek Vacek CTU vacek@rtime.felk.cvut.cz 2003 OCERA Consortium CAN, CANopen The virtual CAN API is the interface used to connect the application threads either with the CAN hardware card or with other software layers substituting CAN bus. The application thread can live either in the Hard RT space or in the Soft RT space. In the the words we can say that VCA is a layer between the CAN driver and the application threads. Type make Type make install