Timing Analysis of Reliable Real-Time Communication in CAN Networks Outdated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 NetworksRef: HURRAY-TR-0026 Publication Date: 1, Dec, 2000
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.
Notes: This Technical Report was later updated by HURRAY-TR-0111.
13th Euromicro Conference on Real-Time Systems