Integration of a CAN-Based Connection-Oriented Communication Model into Real-Time CORBA

Authors:
Stefan Lankes;Andreas Jabs;Thomas Bemmerl
Affiliations:
-;-;-
Venue:
IPDPS '03 Proceedings of the 17th International Symposium on Parallel and Distributed Processing
Year:
2003

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Abstract

The Real-Time CORBA and minimumCORBA specifications are important steps towards defining standard-based middleware which can satisfy real-time requirements in an embedded system. These requirements can only be fulfilled if the middleware utilizes the features of a real-time network. The Controller Area Network (CAN) is one of the most important networks in the field of real-time embedded systems. Consequently, this paper presents a CAN-based connection-oriented point-to-point communication model and its integration into Real-Time CORBA. In order to make efficient use of the advantages of CAN, we present an inter-ORB protocol, which uses smaller message headers for CAN and maps the CAN priorities to a band of CORBA priorities. We also present design and implementation details with some preliminary performance results.