Links
Notes
Since there seem to be problems with the ESD can drivers causing system crashes (noted on both sparky and reventlov), it may be wise to switch to SocketCAN. This might work with at least the PC104 ESD card, since it uses the Philips SJA1000 CAN controller which is supported by SocketCAN.
Termination
In order to function, a CAN bus must be properly terminated. What this comes down to is having two 120 Ohm resistors, one at each end of the bus with some number of devices in between. See the attached PDF for details on how to check for a properly terminated CAN bus using a multimeter.
Upper Layer Protocols
