1 Introduction

CAN is a serial communication protocol that was originally developed for automotive applications. Due to the robustness and reliability, CAN is pertinent to applications in diverse areas such as industrial equipment, medical electronics, trains, aircraft, and so forth. CAN protocol features sophisticated error detection and confinement mechanisms and has simple wiring at the physical level. The original CAN protocol standard is now referred to as classical CAN to distinguish from the more recent CAN FD standard. 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 1Mbps and a payload size of 8 bytes per frame, CAN FD supports bit-rates up to 5Mbps and a payload size of up to 64 bytes per frame.