CANOpen
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	CAL stands for "CAN Application Layer" and was originally developed by CiA. CAL is divided into several parts, for example CMS (CAN-based Message Specification) which defines protocols for transferring data between CAN modules NMT (Network Management Service) which defines the protocols for system startup and shutdown, error logging, and more DBT (Distributor Service) which defines a protocol for distributing identifiers to the different modules in a system CAL is clearly influenced by the OSI model. CANopen is essentially a subset of CAL combined with a set of profiles, which are not yet finalized. CAL/CANopen is one of the currently four higher layer protocols supported by CiA. Both the CAL and the CANopen draft specifications are available from CiA. You can get information here >>