Timing Analysis of Reliable Real-Time Communication in CAN Networks
Ref: HURRAY-TR-0111 Publication Date: 13, Jun, 2001
Timing Analysis of Reliable Real-Time Communication in CAN Networks
Ref: HURRAY-TR-0111 Publication Date: 13, Jun, 2001Abstract:
The Controller Area Network (CAN) is a fieldbus network with real-time
capabilities. It is generally considered that CAN guarantees atomic
multicast properties, through its extensive error detection/signalling
mechanisms. However, there are error situations where messages can be
delivered in duplicate by some receivers or delivered only by a subset of
the receivers, leading to inconsistencies in the supported applications.
In order to prevent such inconsistencies, a set of atomic multicast
protocols is proposed, taking advantage of CAN synchronous properties to
minimise its run-time overhead. This paper presents such set of protocols,
focusing on the timing analysis of the supported reliable real-time
communication. It demonstrates that, in spite of the extra stack of
protocols, the real-time capabilities of CAN are preserved, since the
predictability of message transfer is guaranteed.
Luis Miguel Pinho
Francisco Vasques13th Euromicro Conference on Real-Time Systems, pp 103-114.
Delft, Netherlands.
DOI:10.1109/EMRTS.2001.934010.
Record Date: 1, Mar, 2001