1 Introduction

CAN is a serial protocol that was originally developed for automotive applications. Due to its robustness and reliability, it now finds application in diverse areas such as industrial equipment, medical electronics, trains, aircraft, and so forth. CAN protocol features sophisticated error detection and confinement mechanisms and lends itself to simple wiring at the physical level. The original CAN protocol standard is now referred to as "classical" CAN to distinguish it from the more recent CAN FD standard. Figure 1-1 shows the typical wiring for CAN bus.

CAN Flexible Data Rate (CAN FD) is an enhancement to the classical CAN in terms of higher bit rates and the number of bytes transferred in one frame, thus increasing the effective throughput of communication. While classical CAN supports bit rates up to 1 Mbps and a payload size of 8 bytes per frame, CAN FD supports bit-rates up to 5 Mbps and a payload size of up to 64 bytes per frame. Figure 1-2 shows the frame structure for CAN FD frames.