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...implementation of the Distributed System Annex of ADA 95 based on GLADE [10], and optimized for achieving a better realtime behavior. An application using this platform can be modeled and analyzed [9]=-=[11]-=-. To be able to use CAN-RT-TOP in RT-GLADE, or in other applications, it is necessary to add a partitioning layer that allows us to transmit messages larger than 8 bytes. To accomplish this we have im...

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...Computadores, Universidad de Cantabria, 39005-Santander, SPAIN {lopezju,gutierjj,mgh}@unican.es CAN, acronym of Controller Area Network is a serial communication protocol initially developed by BOSCH =-=[1]-=- and currently maintained by CAN in Automotion (CiA) [2], which supports efficiently distributed control tasks with real-time characteristics and strict reliability requirements. The CAN bus can be us...

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...hich the protocol is designed there is no need for message broadcast, but this would be a fairly simple extension for the future. We have implemented this real-time communication protocol in MaRTE OS =-=[6]-=-, which is a real-time kernel for embedded systems on which our research group has been working in the last few years. The protocol proposed in this work is, from a functional point of view, similar t...

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...an implementation of the Distributed System Annex of ADA 95 based on GLADE [10], and optimized for achieving a better realtime behavior. An application using this platform can be modeled and analyzed =-=[9]-=-[11]. To be able to use CAN-RT-TOP in RT-GLADE, or in other applications, it is necessary to add a partitioning layer that allows us to transmit messages larger than 8 bytes. To accomplish this we hav...

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... used by any application. In our group, we are introducing it as a communication protocol available in RT-GLADE [8] which is an implementation of the Distributed System Annex of ADA 95 based on GLADE =-=[10]-=-, and optimized for achieving a better realtime behavior. An application using this platform can be modeled and analyzed [9][11]. To be able to use CAN-RT-TOP in RT-GLADE, or in other applications, it...

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...is a real-time kernel for embedded systems on which our research group has been working in the last few years. The protocol proposed in this work is, from a functional point of view, similar to RT-EP =-=[7]-=-, a real-time protocol over ethernet also included insMaRTE OS. Our measurements show that when the requirements for communications imply short messages, the CAN bus outperforms the RT-EP ethernet pro...

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...is no explicit mechanism to assign priorities. In distributed transactions better results can be obtained by having the choice to freely assign priorities to the messages and tasks of the transaction =-=[8]-=-. The SDS high-level protocol associates the priority of the messages with the logical addresses of the CAN controller chips. This restriction does not allow a flexible priority assignment, and is pre...

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...eception channel (more messages arrived than those expected when the system was configured). When transmitting a message through the CAN controller chip, the problem known as inner priority inversion =-=[13]-=- may occur. Our chip (Phillips SJA1000) has only one transmission buffer, and the solution that we have implemented to solve this problem is to replace the message stored in the transmission buffer in...

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... priorities are unique there are no collisions in accessing the bus. To access the CAN bus from the application it is useful to use a high level protocol such as CANOpen [2], CANKingdom [3], OSEK-COM =-=[4]-=-, or SDS [5]. In CANOpen there is a restriction that the priority of the message is assigned in a configurable but fixed manner to the destination communication node and function. This policy is usual...

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...are unique there are no collisions in accessing the bus. To access the CAN bus from the application it is useful to use a high level protocol such as CANOpen [2], CANKingdom [3], OSEK-COM [4], or SDS =-=[5]-=-. In CANOpen there is a restriction that the priority of the message is assigned in a configurable but fixed manner to the destination communication node and function. This policy is usually appropria...