Abstract: A method of communicating messages in a CAN network is provided. The method obtains data to be transmitted that relates to an event, prepares a unique event message identifier for first data that relates to the event and prepares a common data message identifier for the event. The common data message identifier identifies second data related to the event. The method further prepares a first transmit message comprising the unique event message identifier and the first data relating to the event, and prepares a second transmit message comprising the common data message identifier and the second data relating to the event, and transmits the first and second messages to a CAN bus, wherein the first and second transmit messages may be received by one or more receiving devices.