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The CAN protocol, or Controller Area Network, is a communication protocol used in the automotive industry to connect various electronic control units (ECUs) within a vehicle. This protocol enables the ECUs to communicate with each other and exchange control and status messages. In recent years, the use of CAN protocol has expanded beyond the automotive industry and is now being used in various other industries such as aerospace, industrial automation, and medical devices.

However, with the increasing use of CAN protocol, there is also an increasing concern about the security of the network. In this guide, we will explore the inner workings of the CAN protocol and how it can be used to secure the network. We will also discuss the different types of attacks that can be launched against CAN networks and how to prevent them. By the end of this guide, you will have a comprehensive understanding of the CAN protocol and how to secure your network using this protocol.

What is CAN Protocol?

A Brief Overview

The CAN protocol, also known as Controller Area Network, is a communication protocol used in automotive and industrial systems. It was first introduced in the 1980s and has since become a widely adopted standard for connecting electronic control units (ECUs) in vehicles and other industrial applications.

The CAN protocol allows different ECUs to communicate with each other, enabling them to share information and coordinate their actions. This results in improved system performance, increased reliability, and reduced complexity.

One of the key features of the CAN protocol is its flexibility. It can be used in a variety of applications, from simple systems with just a few ECUs to complex systems with dozens or even hundreds of ECUs. The protocol is also scalable, meaning that it can be easily adapted to accommodate new ECUs as they are added to a system.

Despite its many benefits, the CAN protocol is not without its challenges. One of the main concerns is security. Because the protocol allows multiple ECUs to communicate with each other, it also creates potential vulnerabilities that can be exploited by attackers. In this guide, we will explore the ins and outs of the CAN protocol and provide a comprehensive overview of network security in the context of CAN-based systems.

CAN Bus Architecture

The CAN (Controller Area Network) protocol is a widely used communication protocol in the automotive industry, designed to enable communication between various electronic control units (ECUs) within a vehicle. The CAN bus architecture is based on a two-wire bus, with one wire for transmitting data (Data) and another wire for receiving data (Clock).

The CAN bus is controlled by a master controller, which is responsible for initiating and managing communication with other devices on the bus. The master controller uses a protocol called the CAN message format to transmit and receive messages on the bus. The CAN message format consists of a header, data, and a trailer, and uses a priority-based arbitration mechanism to ensure that messages are transmitted in the correct order.

The CAN bus architecture also includes a CAN interface, which is responsible for connecting the bus to the various ECUs in the vehicle. The CAN interface receives messages from the master controller and forwards them to the appropriate ECU, and vice versa. The CAN interface also provides various diagnostic and error-handling functions to ensure the reliable operation of the CAN bus.

Overall, the CAN bus architecture provides a robust and flexible communication platform for automotive systems, enabling the integration of a wide range of ECUs and supporting advanced features such as engine control, transmission control, and advanced driver assistance systems.

How Does CAN Protocol Work?

Data Frames and IDs

In the CAN (Controller Area Network) protocol, data is transmitted in the form of data frames. Each data frame consists of an ID, data bytes, and a CRC (Cyclic Redundancy Check) code. The ID identifies the source and destination of the data, while the data bytes contain the actual information being transmitted. The CRC code is used to detect errors in the transmission.

Each data frame begins with a preamble, which is a pattern of bits that signal the start of the frame. The preamble is followed by the ID, which is a unique identifier that specifies the source and destination of the data. The ID consists of two parts: the arbitration field and the identifier field. The arbitration field is used to identify the source of the data, while the identifier field specifies the destination.

After the ID, the data bytes are transmitted. These bytes contain the actual information being transmitted, such as sensor data or control commands. The data bytes are followed by a final CRC code, which is used to detect errors in the transmission.

The CAN protocol supports two types of data frames: standard frames and remote transmission request (RTR) frames. Standard frames are used for normal data transmission, while RTR frames are used to request remote transmission of data. RTR frames are used when a node needs to transmit data to another node that is not currently connected to the network.

In summary, data frames in the CAN protocol consist of a preamble, ID, data bytes, and a CRC code. The ID identifies the source and destination of the data, while the data bytes contain the actual information being transmitted. The CRC code is used to detect errors in the transmission. The CAN protocol supports two types of data frames: standard frames and RTR frames.

Error Detection and Correction

CAN protocol is designed to ensure reliable communication between nodes in a network. One of the critical features of CAN protocol is its error detection and correction mechanism. This mechanism ensures that errors in the transmitted data are detected and corrected before they cause significant problems in the network.

CAN protocol uses a cyclic redundancy check (CRC) to detect errors in the transmitted data. The CRC is a mathematical algorithm that generates a checksum for each message transmitted over the network. The receiver then compares the received checksum with the transmitted checksum to determine if any errors occurred during transmission.

If an error is detected, the receiver can take corrective action. The type of corrective action depends on the severity of the error. For example, if a single bit is flipped, the receiver can simply request a retransmission of the message. However, if a large number of bits are flipped, the receiver may need to discard the message entirely and request a retransmission.

In addition to error detection, CAN protocol also uses error correction to ensure reliable communication. The protocol uses a technique called forward error correction (FEC) to add redundant information to the transmitted data. The receiver can then use this redundant information to correct errors in the transmitted data without requiring a retransmission.

FEC works by adding extra bits to the transmitted data that can be used to correct errors. These extra bits are called parity bits. The number of parity bits added to the transmitted data depends on the desired level of error correction. For example, if a single parity bit is added, the receiver can correct any single bit error. If two parity bits are added, the receiver can correct any two bit error.

CAN protocol also uses a technique called automatic repeat request (ARQ) to ensure reliable communication. ARQ is a technique where the receiver requests a retransmission of a message if it detects an error. The receiver can use different ARQ techniques depending on the severity of the error. For example, if a single bit is flipped, the receiver can use a simple ARQ technique called go-back-N. In this technique, the receiver discards all messages received since the last good message and requests a retransmission of the last good message.

Overall, the error detection and correction mechanism in CAN protocol is a critical feature that ensures reliable communication between nodes in a network. By using techniques such as CRC, FEC, and ARQ, CAN protocol can detect and correct errors in the transmitted data, ensuring that the network operates smoothly and reliably.

Message Prioritization

In a CAN network, messages are transmitted with different priorities, allowing for efficient and reliable communication. The message prioritization mechanism ensures that critical messages are delivered in a timely manner, while less important messages can be delayed or discarded if necessary. The prioritization is based on the identifier (ID) of the message, which determines the priority class of the message. The CAN protocol uses a two-level priority system, with higher priorities having preemptive priority over lower priorities.

When a message is transmitted, it is assigned a priority based on its ID. Messages with higher priority IDs are transmitted first, and lower priority messages are transmitted only if there is no higher priority message to transmit. If a higher priority message is transmitted, any lower priority messages that are in the process of being transmitted are interrupted and stopped, and the transmission of the higher priority message is started. This ensures that high-priority messages are delivered in a timely manner, even if there are lower priority messages in the network.

The message prioritization mechanism is essential for real-time applications that require predictable and reliable communication, such as automotive and industrial control systems. By prioritizing messages based on their importance, the CAN protocol ensures that critical messages are delivered quickly and reliably, while less important messages can be delayed or discarded if necessary. This mechanism helps to optimize the use of the available bandwidth and reduces the likelihood of communication errors or delays.

CAN Mode Choices

When it comes to CAN mode choices, there are two main options to consider: CAN standard mode and CAN extended mode. These modes differ in terms of the maximum number of nodes that can be connected to the network and the maximum transmission speed.

CAN standard mode is the most commonly used mode and supports up to 40 nodes with a maximum transmission speed of 1 Mbps. This mode is suitable for applications that require a simple network topology and low data transfer rates.

On the other hand, CAN extended mode supports up to 64 nodes with a maximum transmission speed of 10 Mbps. This mode is ideal for applications that require a more complex network topology and higher data transfer rates.

It’s important to note that the choice of CAN mode depends on the specific requirements of the application. For example, if the application requires a large number of nodes to be connected to the network, then CAN extended mode may be the better choice. However, if the application only requires a small number of nodes and low data transfer rates, then CAN standard mode may be sufficient.

It’s also worth noting that some CAN controllers support both modes, while others only support one or the other. When selecting a CAN controller, it’s important to consider the specific requirements of the application and choose a controller that supports the appropriate mode.

The CAN Open Protocol

The CAN Open protocol is a higher-layer protocol that operates on top of the CAN bus and is designed to provide additional functionality and flexibility for CAN-based systems. It is a standardized protocol that defines the communication between CAN nodes and provides a framework for implementing advanced features such as network management, diagnostics, and node discovery.

One of the key features of the CAN Open protocol is its support for multiple communication profiles, which allows it to be used in a wide range of applications. These profiles define the specific communication requirements for each application, such as the data rate, message format, and error detection methods.

The CAN Open protocol also includes a number of other features that enhance the functionality of CAN-based systems. For example, it provides support for remote node management, which allows nodes to be configured and controlled remotely, and it includes a diagnostic protocol that allows nodes to detect and report errors in the system.

In addition, the CAN Open protocol includes a number of security features that help to protect CAN-based systems from attacks. For example, it provides support for secure authentication and encryption, which helps to prevent unauthorized access to the system, and it includes a mechanism for detecting and responding to security threats.

Overall, the CAN Open protocol is a powerful and flexible protocol that provides a wide range of advanced features and capabilities for CAN-based systems. Its support for multiple communication profiles, remote node management, diagnostics, and security features make it an essential tool for developers working in the field of network security.

Applications of CAN Protocol

Automotive Industry

The CAN protocol has found widespread use in the automotive industry, particularly in modern vehicles with advanced driver assistance systems (ADAS) and vehicle-to-vehicle (V2V) communication. CAN is used for various applications such as monitoring and controlling engine and transmission systems, brake systems, and airbag deployment. In addition, CAN is used for infotainment systems, climate control, and navigation systems.

CAN is also used for V2V communication, which enables vehicles to communicate with each other and share information such as speed, position, and traffic conditions. This technology has the potential to improve traffic safety by enabling vehicles to avoid collisions and reduce congestion. However, it also raises concerns about privacy and security, as the data shared between vehicles can be used to track the movements of individual vehicles and potentially identify personal information.

In summary, the automotive industry is a significant user of the CAN protocol, and its use is expected to continue to grow as vehicles become more connected and autonomous. Understanding the security implications of CAN protocol is crucial for ensuring the safety and privacy of drivers and passengers in modern vehicles.

Industrial Automation

CAN Protocol has become an integral part of industrial automation systems. It is widely used in manufacturing plants, power generation facilities, and other industrial environments where machines and equipment need to be monitored and controlled.

One of the key advantages of CAN Protocol in industrial automation is its ability to provide real-time data transfer. This is essential for monitoring and controlling machines and equipment in real-time, ensuring that they are operating at optimal levels. CAN Protocol can also be used to integrate different systems and devices, making it easier to manage and control the entire production process.

Another important aspect of CAN Protocol in industrial automation is its reliability. CAN networks are designed to be highly robust and fault-tolerant, which means that they can continue to operate even in the event of a hardware failure. This is critical in industrial environments where downtime can be costly.

In addition to its use in manufacturing and power generation, CAN Protocol is also used in other industrial applications such as transportation and logistics. For example, it can be used to monitor and control the operation of trains, buses, and other vehicles.

Overall, CAN Protocol plays a crucial role in industrial automation, providing real-time data transfer and reliability that is essential for managing and controlling complex industrial systems.

Medical Devices

CAN (Controller Area Network) protocol has a wide range of applications in the medical field. It is used in medical devices to provide reliable and efficient communication between different devices. The following are some of the medical devices that use CAN protocol:

Patient Monitoring Devices

Patient monitoring devices such as ECG (Electrocardiogram) machines, blood pressure monitors, and pulse oximeters use CAN protocol to communicate patient data to other devices or systems. This enables healthcare professionals to monitor patients’ vital signs and take necessary actions in a timely manner.

Infusion Pumps

Infusion pumps are medical devices used to administer medication to patients. These pumps use CAN protocol to communicate with other devices such as patient monitors, hospital information systems, and drug dispensing systems. This ensures that the right medication is delivered to the right patient at the right time.

Operating Room Equipment

Operating room equipment such as surgical lights, surgical tables, and anesthesia machines use CAN protocol to communicate with each other. This enables the equipment to work together seamlessly during surgery, reducing the risk of errors and improving patient safety.

Laboratory Equipment

Laboratory equipment such as blood analyzers, centrifuges, and PCR machines use CAN protocol to communicate with other devices or systems. This enables laboratory staff to monitor equipment performance, track inventory, and manage test results efficiently.

In summary, CAN protocol plays a crucial role in medical device communication, enabling efficient and reliable communication between different devices and systems. This helps to improve patient care and safety, and streamline medical device management.

Aerospace and Defense

The CAN (Controller Area Network) protocol has become a crucial component in modern aerospace and defense systems. It enables seamless communication between various subsystems and devices, leading to improved performance and efficiency. This section delves into the specific applications of CAN protocol in aerospace and defense.

Advantages of CAN Protocol in Aerospace and Defense

• Reliable Communication: The CAN protocol ensures reliable and accurate communication between various subsystems in aerospace and defense applications. This is particularly important in critical situations where timely and accurate information exchange is vital.
• Real-time Monitoring: CAN enables real-time monitoring of various systems, allowing for immediate response to any issues that may arise. This helps maintain the integrity of the system and ensures optimal performance.
• High-speed Data Transfer: CAN protocol allows for high-speed data transfer, which is essential in aerospace and defense applications where quick response times are critical. The protocol can handle large amounts of data, ensuring that all relevant information is transmitted in a timely manner.

CAN Protocol Applications in Aerospace and Defense

• Flight Control Systems: CAN protocol is used in flight control systems to enable communication between various subsystems, such as navigation, propulsion, and control surfaces. This ensures that all systems work together seamlessly, providing a safer and more efficient flight experience.
• Mission-Critical Systems: CAN protocol is also used in mission-critical systems, such as radar and surveillance systems, where real-time data transfer is crucial. The protocol’s reliability and high-speed data transfer capabilities make it ideal for these applications.
• Vehicle Control Systems: CAN protocol is used in vehicle control systems to enable communication between various subsystems, such as engine control, transmission, and brake systems. This ensures that all systems work together seamlessly, providing a safer and more efficient driving experience.

In conclusion, the CAN protocol plays a vital role in aerospace and defense applications, providing reliable and efficient communication between various subsystems. Its advantages make it an ideal choice for mission-critical systems, where timely and accurate information exchange is essential.

CAN Protocol Security Considerations

Threats to CAN Networks

As the automotive industry becomes increasingly reliant on CAN networks, it is essential to understand the potential threats that these networks face. The following are some of the most common threats to CAN networks:

1. Data tampering: CAN networks are vulnerable to data tampering, which can lead to significant issues, such as engine stalling or brake failure. Attackers can inject malicious data packets into the network, causing the vehicle’s electronic systems to malfunction.
2. Eavesdropping: CAN networks can also be vulnerable to eavesdropping, where an attacker intercepts and reads the data transmitted over the network. This can lead to sensitive information, such as personal data or trade secrets, being compromised.
3. Replay attacks: CAN networks are also vulnerable to replay attacks, where an attacker intercepts and records valid data packets and then retransmits them at a later time to cause unexpected behavior in the vehicle’s electronic systems.
4. Denial of service: CAN networks can also be vulnerable to denial of service attacks, where an attacker floods the network with a large number of data packets, causing the network to become overwhelmed and unable to function properly.
5. Malware: CAN networks can also be vulnerable to malware, which can infect the vehicle’s electronic systems and cause them to malfunction. Attackers can spread malware through various means, such as USB drives or network connections.

Understanding these threats is crucial for developing effective security measures to protect CAN networks from potential attacks. In the next section, we will explore some of the techniques used to secure CAN networks.

Protecting CAN Networks

Introduction to CAN Network Security

• Definition of CAN (Controller Area Network) and its importance in automotive and industrial systems
• Explanation of the vulnerabilities and security risks associated with CAN networks
• Overview of the various methods used to protect CAN networks from cyber-attacks and unauthorized access

CAN Network Security Threats

• Description of the most common threats to CAN networks, such as tampering, eavesdropping, and denial-of-service attacks
• Discussion of the potential consequences of these threats, including the loss of sensitive data, financial losses, and physical damage

CAN Network Security Measures

• Overview of the different techniques used to secure CAN networks, including encryption, access control, and intrusion detection systems
• Detailed explanation of each method, including its advantages and limitations
• Comparison of the different security measures, highlighting their relative effectiveness in protecting CAN networks

Implementing CAN Network Security

• Practical steps for implementing security measures in CAN networks, including network segmentation, password protection, and regular software updates
• Explanation of the importance of employee training and awareness in preventing security breaches
• Tips for monitoring and maintaining network security over time, including regular security audits and vulnerability assessments

Future Directions in CAN Network Security

• Discussion of emerging trends and technologies in CAN network security, such as the use of machine learning and artificial intelligence for threat detection
• Examination of the challenges and opportunities associated with these new developments, including the need for increased collaboration between industry and academia
• Outlook on the future of CAN network security, including predictions for the next decade and beyond

Best Practices for CAN Security

When it comes to securing a CAN network, there are several best practices that should be followed. These practices can help ensure that the network is protected against potential threats and vulnerabilities. Here are some of the best practices for CAN security:

• Use a Secure Protocol: It is essential to use a secure protocol when transmitting data over a CAN network. This can help prevent unauthorized access to the network and protect against potential attacks.
• Segment the Network: It is a good idea to segment the CAN network into different zones or areas. This can help prevent potential attacks from spreading throughout the network and limit the damage that can be done in the event of an attack.
• Implement Access Controls: Access controls should be implemented to restrict access to the CAN network. This can help prevent unauthorized access and limit the potential damage that can be done in the event of a security breach.
• Regularly Update Software and Firmware: It is important to regularly update software and firmware on devices connected to the CAN network. This can help ensure that potential vulnerabilities are patched and that the network is protected against potential attacks.
• Monitor the Network: It is essential to monitor the CAN network for potential security threats and vulnerabilities. This can help identify potential issues before they become serious problems and allow for prompt action to be taken to address them.
• Use a Firewall: A firewall can help protect the CAN network from potential attacks by blocking unauthorized access and monitoring network traffic.
• Use Encryption: Encryption can help protect data transmitted over the CAN network by making it unreadable to unauthorized parties. This can help prevent potential attacks and protect sensitive information.
• Provide Training and Awareness: It is important to provide training and awareness to employees who work with the CAN network. This can help ensure that they understand the potential risks and are aware of best practices for securing the network.

By following these best practices, it is possible to improve the security of a CAN network and protect against potential threats and vulnerabilities.

Future Developments in CAN Security

The future of CAN protocol security holds promising advancements that aim to further enhance the security features of the protocol. Here are some potential developments to look forward to:

Incorporation of Cryptographic Techniques

The integration of cryptographic techniques, such as encryption and digital signatures, can significantly bolster the security of CAN networks. By implementing these techniques, it will be possible to protect communication from unauthorized access, tampering, and eavesdropping. This can further prevent cyber-attacks, such as replay attacks and message manipulation.

Enhanced Authentication Mechanisms

Developing more robust authentication mechanisms is a crucial aspect of future CAN security enhancements. This includes the implementation of secure key management systems, such as public-key infrastructure (PKI), to ensure the authenticity of devices and messages. By verifying the identity of devices and messages, the likelihood of cyber-attacks can be significantly reduced.

Enhanced Network Monitoring and Intrusion Detection

Improved network monitoring and intrusion detection systems will play a vital role in ensuring the security of CAN networks. By employing advanced anomaly detection algorithms and machine learning techniques, it will be possible to identify suspicious activities and potential threats in real-time. This enables security professionals to take immediate action and prevent security breaches before they escalate.

Adoption of Industry Standards and Best Practices

Adopting industry standards and best practices for CAN network security is essential to mitigate risks and safeguard against emerging threats. This includes the development of comprehensive security guidelines, vulnerability assessment frameworks, and regular security audits. By following established guidelines and best practices, organizations can ensure the compliance of their CAN networks with industry standards and regulations.

Emphasis on Security by Design

Future developments in CAN security should focus on incorporating security measures as part of the design process. This involves integrating security considerations at every stage of the development lifecycle, from hardware and software design to deployment and maintenance. By prioritizing security by design, it will be possible to proactively address potential vulnerabilities and reduce the likelihood of security breaches.

By exploring these potential future developments in CAN security, it is evident that the protocol’s security landscape is evolving to meet the increasing challenges of modern cyber threats. The continuous advancements in CAN security will play a vital role in ensuring the safety and reliability of CAN networks in various industries.

The Importance of Understanding CAN Protocol for Network Security

• The Controller Area Network (CAN) protocol is a ubiquitous communication protocol used in various industrial and automotive applications, which necessitates its understanding for network security professionals.
• The CAN protocol operates on a principle of “one dominant controller” where one controller node can dominate the bus and dictate the communication protocol, which makes it essential to understand the protocol to identify potential vulnerabilities and secure the network.
• Understanding the CAN protocol can help security professionals to identify potential weaknesses in the network, such as unauthorized access, denial of service attacks, and malicious data injection, which can compromise the integrity and confidentiality of the network.
• Furthermore, understanding the CAN protocol can aid in the implementation of appropriate security measures, such as encryption, access control, and intrusion detection systems, to safeguard the network from potential threats.
• Overall, the understanding of the CAN protocol is crucial for network security professionals to identify and mitigate potential vulnerabilities, and ensure the secure operation of industrial and automotive networks.

Future Research Directions

As the automotive industry continues to evolve, the potential security threats to CAN protocols also increase. It is essential to identify the areas that require further research to enhance the security of CAN networks. Some of the future research directions for CAN protocol security are:

• Analyze CAN-based attacks: Further research is needed to analyze the different types of attacks that target CAN networks. This analysis will help in the development of more effective security measures.
• Develop novel security mechanisms: There is a need for developing novel security mechanisms that can effectively mitigate the risks associated with CAN-based attacks. These mechanisms should be able to detect and prevent attacks in real-time.
• Investigate the use of encryption: The use of encryption can significantly enhance the security of CAN networks. Future research should investigate the use of encryption in CAN networks and develop practical solutions for implementing encryption in these networks.
• Study the impact of new technologies: As new technologies are introduced in the automotive industry, it is essential to study their impact on CAN network security. For example, the use of electric vehicles and autonomous driving technology may introduce new security challenges to CAN networks.
• Explore the use of intrusion detection systems: Intrusion detection systems can help in detecting and preventing attacks on CAN networks. Future research should explore the use of intrusion detection systems in CAN networks and evaluate their effectiveness.
• Evaluate the effectiveness of existing security measures: It is crucial to evaluate the effectiveness of existing security measures for CAN networks. This evaluation will help in identifying the weaknesses in these measures and developing more effective security mechanisms.

By addressing these future research directions, it will be possible to enhance the security of CAN networks and protect them from potential attacks.

FAQs

1. What is CAN protocol?

CAN (Controller Area Network) protocol is a high-speed network communication protocol used in automotive and industrial applications. It is designed to enable communication between different electronic control units (ECUs) in a vehicle or an industrial system. The protocol provides a reliable and efficient way to transmit data between ECUs, enabling them to work together to control various systems in the vehicle or the industrial environment.

2. How does CAN protocol work?

CAN protocol works by using a physical layer and a media access layer. The physical layer defines the electrical characteristics of the CAN bus, such as the signal voltage and timing. The media access layer defines the rules for accessing the bus, such as how to initiate a message and how to respond to a message. When a message is sent over the CAN bus, it is transmitted in bit-oriented mode, with each bit being transmitted in turn. The receiver listens to the bus and identifies messages that are intended for it, based on the message identifier and other information.

3. What is the purpose of CAN protocol in network security?

CAN protocol plays an important role in network security, as it enables communication between different ECUs in a vehicle or an industrial system. By ensuring that messages are transmitted reliably and efficiently, CAN protocol helps to prevent unauthorized access to the network and protect against malicious attacks. In addition, CAN protocol provides a secure way to transmit sensitive data, such as control commands and diagnostic information, between ECUs.

4. What are the benefits of using CAN protocol in network security?

There are several benefits of using CAN protocol in network security. Firstly, CAN protocol provides a reliable and efficient way to transmit data between ECUs, which helps to prevent data loss and ensure that messages are delivered in a timely manner. Secondly, CAN protocol provides a secure way to transmit sensitive data, such as control commands and diagnostic information, between ECUs. Finally, CAN protocol enables communication between different ECUs in a vehicle or an industrial system, which helps to prevent unauthorized access to the network and protect against malicious attacks.

5. What are the limitations of CAN protocol in network security?

While CAN protocol provides many benefits in network security, there are also some limitations to be aware of. One limitation is that CAN protocol is vulnerable to certain types of attacks, such as message injection and replay attacks. Another limitation is that CAN protocol may not be able to support high data rates in some applications, which can limit its effectiveness in certain situations. Finally, CAN protocol may not be compatible with other communication protocols, which can limit its use in some environments.

CAN Protocol Explained | Controller Area Network