Canbus

http://caraca.sourceforge.net/ The core of the NODE is the AVR AT90S4433 micro controller provided by Atmel. The AVR is surrounded by the CANBus driver PCA82C250, the relay driver ULN2003, the Ir receiver TSOP1836 and the temperature sensor/thermostat DS1621. The node is powered by a 12V dc from the bus.

NODE Schematics

http://www.youtube.com/watch?v=xt6_GWLTxN4

http://blackrynius.wordpress.com/category/can-bus/

http://diydrones.com/profiles/blogs/uavcan-can-bus-for-uav-preliminary-release