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Kvaser's all purpose introduction to Controller Area Networks (CAN).
For many years, this tutorial has served as the "go to" industry resource for learning the basics of CAN (ISO 11898-1 and ISO 11898-2).
Includes description of messages, oscilloscope images, connectors, bit timing, and error handling.
This .zip file includes .epub, .epub (Kindle), and .mobi formats for eReaders.