Title: Split, Send, Reassemble: A Formal Specification of a CAN Bus Protocol Stack,
Abstract: We present a formal model for a fragmentation and a reassembly protocol
running on top of the standardised CAN bus, which is widely used in automotive
and aerospace applications. Although the CAN bus comes with an in-built
mechanism for prioritisation, we argue that this is not sufficient and provide
another protocol to overcome this shortcoming.