Timing Analysis of Reliable Real-Time Communication in CAN Networks Outdated
Ref: HURRAY-TR-0026 Publication Date: 1, Dec, 2000
Timing Analysis of Reliable Real-Time Communication in CAN Networks
Ref: HURRAY-TR-0026 Publication Date: 1, Dec, 2000Abstract:
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.
This misbehaviour may be disastrous if the CAN network is used to support
replicated applications, since for these applications replicated components
must provide the same results, when they are correct.
In order to prevent such inconsistencies, a set of atomic multicast
protocols has been 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 VasquesNotes: This Technical Report was later updated by HURRAY-TR-0111.
Record Date: 1, Dec, 2000
13th Euromicro Conference on Real-Time Systems