Reliable communication in the presence of failures
ACM Transactions on Computer Systems (TOCS)
Delivery of time-critical messages using a multiple copy approach
ACM Transactions on Computer Systems (TOCS)
ACM Transactions on Computer Systems (TOCS)
Real-Time Systems
RMP: Fault-Tolerant Group Communication
IEEE Micro
Evaluation of a Hybrid Real-Time Bus Scheduling Mechanism for CAN
Proceedings of the 11 IPPS/SPDP'99 Workshops Held in Conjunction with the 13th International Parallel Processing Symposium and 10th Symposium on Parallel and Distributed Processing
Fault-Tolerant Broadcasts in CAN
FTCS '98 Proceedings of the The Twenty-Eighth Annual International Symposium on Fault-Tolerant Computing
Non-preemptive scheduling of messages on controller area network for real-time control applications
RTAS '95 Proceedings of the Real-Time Technology and Applications Symposium
A causal message ordering scheme for distributed embedded real-time systems
SRDS '96 Proceedings of the 15th Symposium on Reliable Distributed Systems
Implementing the Real-Time Publisher/Subscriber Model on the Controller Area Network (CAN)
ISORC '99 Proceedings of the 2nd IEEE International Symposium on Object-Oriented Real-Time Distributed Computing
Reliable Communication in Distributed Computer-Controlled Systems
Ada Europe '01 Proceedings of the 6th Ade-Europe International Conference Leuven on Reliable Software Technologies
A Consensus Protocol for CAN-Based Systems
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
COSMIC: A real-time event-based middleware for the CAN-bus
Journal of Systems and Software - Special issue: Parallel and distributed real-time systems
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The paper focuses on the problem to guarantee reliable and ordered message delivery to the operational sites of a CAN-Bus network. The contributions of the paper are firstly a hardware mechanism to handle rare failure situations and secondly, a protocol to guarantee the same order of messages on all nodes. After analyzing the error handling mechanism, we suggest a hardware extension to capture situations, which may lead to inconsistent views about the status of a message between the nodes. Based on this mechanism, which enhances the guarantees of the CAN-Bus with respect to reliable message transmission, we develop a deadline-based total ordering scheme. By carefully exploiting the properties of CAN, this can be achieved with very low additional message overhead.