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CAN FD
Everything in the publication tagged CAN FD, newest first.
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Choosing between CAN, CAN FD and Ethernet industrial links
CAN suits cheap, rugged, low-rate event traffic; CAN FD when payloads outgrew 8 bytes but a bus still fits; industrial Ethernet (PROFINET, EtherCAT, TSN) for megabits or tight cycle times. Expect to bridge, not replace.