Hi,
I've done a bit of work with CAN, mainly in automotive and Freescale.
CAN is used heavily in automotive because it is deterministic, as you say.
That is, you can come up with a priority scheme that guarantees that
higher priority messages get sent out without collisions. You can read
about the scheme on Wikipedia.
I'm not sure about the CAN controller on the BBB, but one of the
problems with CAN implementations is large numbers of interrupts on busy
networks. CAN is essentially a pub/sub network, where the receiver (at
COMPILE time) registers for the set of messages it wants to receive. Those
messages are then compiled into a set of filters that get loaded into the
CAN controller so that the number of hardware interrupts are reduced. I'm
not sure if the interrupt issue is still a problem, but there is still a
lot of FUD around the industry about that.
The Linux SocketCAN driver (developed at VW) is, I think, a vastly
superior approach that uses some of the existing Linux network stack, but
it doesn't use the hardware filtering capabilities of the hardware.
For home use, I would look at Insteon (wired/wireless), Z-Wave
(wireless) or Zigbee (wireless). SmartHome is a good place to look at
what's out there. If you're going to create your own sensors, RS-485,
suggested above, is probably an easier implementation than CAN. Perhaps
more information on your problem would help towards picking the right
technologies.
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