IP over CAN is fine, but the useful throughput is limited. Overhead is very high because the frames are so short--64 useful bits in every 108-bit frame--so you

IP over CAN is fine, but the useful throughput is limited. Overhead is very high because the frames are so short--64 useful bits in every 108-bit frame--so you end up repeating the headers many times. That limits effective throughput to about 600 kbps on a 1 Mbps shared bus. (And the nature of the shared bus means that's a single throughput budget for all attached devices.)