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When considering the use of the CAN protocol, be aware of security too. CAN is what those hackers used to take control of numerous cars. You are talking about critical propulsion control systems here. Yes currently small scale-low value targets but still. Security MUST start at the beginning or it will never be added at the end. Sure the worst of the hacking was because a certain manufacturer had the cellular enabled mobile entertainment system and the ECU and everything else cobbled together.
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