CAN Bus Development for Embedded Systems: With and Without an Operating System

Posted by Wilfried Voss on May 17th 2025

CAN Bus Development for Embedded Systems: With and Without an Operating System The Controller Area Network (CAN) Bus has become an essential communication protocol in automotive, industrial, marine, and robotics applications due to its robustness, efficiency, and real-time capabilities. When it comes to embedded systems, developers have multiple hardware and software platforms to choose from—some with full operating systems (OS), others running bare-metal (without OS).

At Copperhill Technologies, CAN Bus development is supported across a wide range of platforms, including Raspberry Pi with PiCAN HATs, which use Linux, and Teensy and ESP32 boards, which operate without a full-fledged OS. This article explores the technical implications, development strategies, and appropriate use cases for both types of systems.

CAN Bus with Operating System: Raspberry Pi + PiCAN HATs

Platform Overview

The Raspberry Pi, when paired with a PiCAN HAT, becomes a powerful CAN Bus node. It runs a Linux-based OS, typically Raspberry Pi OS (formerly Raspbian), offering high-level functionality and user-friendly development environments.

Advantages

Multi-threading and process management: Linux supports multiple threads and background services, which is beneficial for complex applications like data logging, diagnostics, and gateways.
File system access: Saving logs, database interaction, or accessing configuration files is straightforward.
High-level programming support: Developers can use Python, C/C++, and even Java for CAN Bus development with support from SocketCAN.
SocketCAN: The Linux-native CAN interface. It abstracts CAN devices as network interfaces, making programming similar to working with TCP/IP sockets.

Challenges

Higher system requirements: Needs more memory and processing power.
Non-deterministic behavior: Linux is not a real-time OS, which may cause latency in time-critical applications.
Longer boot time: Can be several seconds before the application is ready.

Use Cases

Automotive diagnostics and data logging
Industrial gateways
Maritime and fleet telematics
Education and prototyping environments

CAN Bus Without Operating System: Teensy & ESP32

Platform Overview

The Teensy microcontroller family and ESP32 systems (also offered by Copperhill Technologies) are ideal for applications requiring low power, fast startup, and deterministic response. These platforms typically run without an operating system—commonly referred to as bare-metal programming—or use lightweight real-time operating systems (RTOS) like FreeRTOS if needed.

Advantages

Real-time performance: Precise control over timing and hardware behavior.
Low memory footprint: Ideal for power- and resource-constrained environments.
Fast startup: Teensy and ESP32 boards can initialize and start executing code almost instantly.
Cost-effective: Lower hardware and system costs.

Challenges

Manual resource management: Developers must handle memory, task scheduling, and error recovery without OS-level support.
Limited peripheral abstraction: Hardware access is more complex, requiring deep knowledge of registers and interrupt handling.
Less ecosystem support: Compared to Linux-based environments, there’s less access to full-featured libraries and debugging tools.

Development Tools

Arduino IDE: Widely used for both Teensy and ESP32, with built-in support for CAN Bus libraries.
PlatformIO: A more advanced development environment for embedded systems with better project management and debugging.
C/C++ SDKs: For more control, especially when integrating FreeRTOS or custom CAN drivers.

Use Cases

Battery management systems (BMS)
Robotics and real-time control
Lightweight marine navigation aids
Automotive ECUs and sensor nodes
Wireless CAN bridges and IoT gateways

Programming Model Comparison

Feature	With OS (Raspberry Pi)	Without OS (Teensy / ESP32)
Language Support	Python, C/C++, Java, Bash	C/C++, Arduino, FreeRTOS (optional)
Timing Precision	Low (non-deterministic)	High (deterministic, real-time)
Development Environment	Linux-based IDEs, remote SSH	Arduino IDE, PlatformIO, native SDKs
Startup Time	Several seconds	Milliseconds
Peripheral Control	Abstracted via drivers	Direct hardware access via registers
Multitasking	Threads/processes	Manual (loop-based) or RTOS (optional)
Debugging & Logging	Extensive tools, file access	Serial monitor, basic logging
Ideal Application Type	Complex systems, UI, data services	Time-critical, embedded, sensor/actuator nodes

So, Which One Is Better?

The choice between an OS-based or OS-less CAN Bus system is not a matter of superiority—it’s a matter of suitability. If your application involves complex logic, networked services, or interaction with web/cloud services, a Linux-based system like the Raspberry Pi is highly recommended. On the other hand, if you’re designing real-time, low-latency, or cost-sensitive systems, the Teensy or ESP32 is the better match.

Ultimately, the decision depends on:

The developer’s familiarity with operating systems and embedded environments
The nature and complexity of the application
Required startup speed, timing precision, and resource constraints

Conclusion

CAN Bus development is well-supported across both OS-based and OS-less embedded systems. Copperhill Technologies offers versatile solutions that span both ends of the spectrum, from the full-featured Raspberry Pi with PiCAN HATs, to the lean and powerful Teensy and ESP32 CAN boards. By understanding the trade-offs between these platforms, developers can make informed choices and create robust, efficient, and scalable CAN-based applications.

Master Embedded Systems, Drivers & Firmware: The Complete Guide to Embedded C, RTOS, Drivers, and Low-Level Design

Step into the world of professional embedded engineering with this in-depth, real-world guide to firmware, device drivers, and real-time systems. Whether you're working with bare-metal microcontrollers, Linux-based SoCs, or cutting-edge IoT platforms, this book delivers the tools and knowledge you need to design, debug, and deploy robust, production-grade embedded software.

From low-level C programming and interrupt-driven design to multitasking with RTOS and secure firmware architecture, you’ll gain hands-on expertise across the entire embedded stack—all in a single, accessible volume.

✅ What You’ll Learn:

Embedded Architecture
Grasp the critical differences between microcontrollers and microprocessors, explore memory hierarchies, I/O subsystems, and the fundamentals of SoC design.

Low-Level Firmware Development
Master bootloaders, startup sequences, linker scripts, memory mapping, and implement over-the-air (OTA) updates with confidence.

Real-Time Operating Systems (RTOS)
Design responsive, multitasking systems using FreeRTOS and other widely adopted RTOS frameworks.

Device Driver Programming
Build drivers for peripherals and sensors, and write kernel modules for Linux with a deep understanding of hardware interaction.

Bare-Metal vs. RTOS
Understand when minimal firmware design is appropriate, and when system complexity demands an RTOS approach.

Security Best Practices
Apply secure boot, cryptographic protocols, and firmware threat modeling to safeguard your embedded applications.

Advanced Topics
Explore modern domains like embedded machine learning (TinyML), automotive firmware design, industrial automation, and medical device systems.

Whether you’re a student, a practicing firmware engineer, or a systems architect, this book is your comprehensive companion for mastering embedded systems design.

**Elevate your embedded C skills—**with practical insights, proven techniques, and the clarity to build efficient, secure, and scalable software for the real world. More information...