ABSTRACT
Controller area network (CAN) is a popular and a very well-known bus system, both in academia and in industry.CANprotocolwasintroducedinthemid-1980sbyRobertBoschGmbH[7],anditwasinternationallystandardizedin1993asISO11898-1[24].Itwasinitiallydesignedfordistributedautomotive controlsystemsasasingledigitalbustoreplacetraditionalpoint-to-pointcablesthatweregrowingin complexity,weight,andcostwiththeintroductionofnewelectricalandelectronicsystems.Nowadays CANisstillusedextensivelyinautomotiveapplications,withanexcessof400millionCAN-enabled microcontrollers manufactured each year [14].
