CAN is lousy if your messages are larger than 8 bytes. And, invariably, your messages eventually end up larger than 8 bytes. Then you have to deal with CANOpe

CAN is lousy if your messages are larger than 8 bytes. And, invariably, your messages eventually end up larger than 8 bytes. Then you have to deal with CANOpen and your life becomes hell. I also find some of the CAN architecture decisions kind of questionable nowadays. A lot of stuff like ACK and retransmit in the hardware made sense back when microcontrollers were expensive. Nowadays, its just something that chip implementors are likely to screw up that you can't fix with software.