Thank you for your course review~ The first half of the lecture explains the theoretical part of CAN communication, and the rest is about implementing CAN communication directly using the CAN-related library in STM32 and checking the results. CAN communication is a bit difficult among serial communications. It is not easy to implement if you have not tried it. If you understand the lecture content, you can implement most CAN-related communications. In practice, you can apply and use the lecture content. Thank you~!!