Trying to use two different CAN protocols in the same port

I’m building a pulverization rover for agriculture, and most of it is ready. However, since early December, I’ve been planning to migrate some of the communication to CAN, and most of the transition process has gone smoothly.

But I don’t know why, when I was designing the carrier board, I only included one CAN port, and the radar I got for obstacle avoidance is already using it. Now, the spray board I developed (which controls all the spraying equipment, such as the pump, section valves, etc.) can’t communicate with the carrier board.

I’m not sure if it’s possible, as I’m fairly new to Pixhawk and ArduPilot, but I noticed in Mission Planner that you can select two protocols for one CAN port and driver. I was thinking of using the first protocol as Nanoradar for my MR72 CAN radar, and the second as scripting, then developing a Lua script to scan the bus for the specific IDs of the spray board messages.

Does anyone know if this is even possible? Or does anyone have suggestions or know a way to help?

Pixhawk has two CAN ports. Use one protocol in one and a second protocol on the second.

Yeah I know, but I ended creating a carrier board for the Cube Orange+ and it has only one.