Bus systems
| Name | Multidrop | Max nodes | Electrical type | Cable type | Max bitrate [kbit/s] | Length at max bitrate | Max length [m] | Bitrate at max length |
|---|---|---|---|---|---|---|---|---|
| EIA-485 (UART based) | Y | 256 | EIA-485 | Twisted pair | 1000 kbit/s | 1330 m | 64 kbit/s | |
| SCSI-1/2 | Y | 8 | Open collector | Ribbon cable | 20 000 kbit/s | 3 m | 6 m | 5 Mbit/s/ch |
| SCSI Ultra2 | Y | 16 | EIA-485 | Twisted pair | 40 000 kbit/s | 12 m | ||
| LIN | Y | 16 | Open collector | open collector with pull-up to 12V car supply | 19.2 kbit/s | 40 m | ||
| SIOX | Y | 62 | 19.2 kbit/s | |||||
| I²C | Y | 127 or 1023 | Open collector | 5000 kbit/s | 7.6 m | |||
| SMBus | Y | 128 | Open collector | 100 kbit/s | ||||
| PMBus | Y | 128 | Open collector | 400 kbit/s | ||||
| 10Base-2 | Y | 30 | Differential | RG58 coaxial | 10 000 kbit/s | 185 m | 185 m | |
| CAN | Y | 128 | ISO 11898-2 Differential | Twisted pair | 1000 kbit/s | 40 m | 1000 m | 50 kbit/s |
| DMX512-A | N | 32 | EIA-485 | Twisted pair 120 Ω | 250 kbit/s | 548 m | 548 m (1800ft.)[4] | 250 kbit/s |
| DCC | Y | 127 | Single ended | 5 kbit/s | ||||
| RS-232 | N | 2 | Single ended | 128 kbit/s | 1.5 m (approx) | 15 m | 19.6 kbit/s | |
| PSI5 | Y | Twisted pair | 189 kbit/s | 12 m (approx) | ||||
| 1-Wire | Y | 248 | Open collector | Single conductor, with ground | 16.3 kbit/s | 300 m | ||
| X10 | Y | 256 | Power line | 0.05 kbit/s / 0.06 kbit/s | ||||
| FlexRay | Twisted pair | 20 000 kbit/s | ||||||
| SENT | N | 2 | Single ended | Single conductor, with 5 V power supply and ground | async. transmission, min. 39.216 kbits/s | 5 m | ||
| SPC | Y | 5 | Single ended or Open collector | Single conductor, with 5 V power supply and ground, shielded when using higher speeds | sync. and async. transmission, variable up to ~150 kbit/s | ~0.5 m | 5 m | same as SENT |
| I3C | Y | 127 | 12 500 kbits/s | |||||
| SPI | Y | variable up to ~10000 kbit/s |
The number of nodes can be limited by either number of available Network address|addresses or bus capacitance. None of the above use any analog domain modulation techniques like MLT-3 encoding, Pulse-amplitude modulation|PAM-5 etc. PSI5 designed with automation applications in mind is a bit unusual in that it uses Manchester code.
Bus Systems
- SAB - Sensor Actuator Bus (SAB), also in modm.io
- OpenCyphal - (formerly UAVCAN) Protocol on top of CAN Bus, suited for robotics and aerospace control applications
- UC4H: UAVCAN for Hobbyists (on Github) - UAVCAN applied to a multirotor plattform.
- LUOS Library that can be used on any MCU, leading to free and fast multi-electronic-boards products development.
- Simple Robot - RPI4 & EtherCAT
- Lely CANopen - Open Source CANopen Stack
- CANopenNode - Another Open Source CANopen Stack
- CANopen driver framework for ROS - CANOpen ROS bridge
- KaCanOpen - an easy-to-use CANopen stack for ROS