Implementing Scalable CAN Security with CANcrypt
The CANcrypt network is described in detail in the book "Implementing Scalable CAN Security with CANcrypt" (ISBN 978-0-9987454-0-4, paperback or ISBN 978-0-9987454-1-1, hardcover).
The authors discuss several security aspects for the CAN-based networks and provide a lightweight software security solutions offering authentication and encryption for CAN communication. CANcrypt is application layer independent and supports for example CANopen, J1939, CiA 447, NMEA-200, Energybus (CiA 454), Cleanopen (CiA 422), and others.