Hi!
I want to Express my gratitude to the author of the theme. I was able to do the CAN gateway on the Arduino Due. The time of forwarding messages is very small. After the initial offset of 15-25 milliseconds, then the displacements are almost there (less than 1 millisecond). It fully complies with the requirements for test tool safety CAN interfaces in complex systems. Besides, I understand how you can still identify the hardware and software bookmarks, of which I warned on its website (in Russian) www.external.pro.
Alex