If your project is space limited, here is a [Serial CAN-BUS module](https://www.seeedstudio.com/Serial-CAN-BUS-Module-based-on-MCP2551-and-MCP2515-p-2924.html) which has the full features of CAN Bus. The Serial CAN-BUS provides your Arduino or others MCU with the capability to communication to CAN Bus, such as hacking your vehicle. This Grove CAN-BUS module is controled by UART, that means if your MCU has a UART interface, this serial CAN BUS is available. Good news is that this Serial CAN BUS module needs only $14.9
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