Using Ravenscar to support fault-tolerant real-time applications
IRTAW '02 Proceedings of the 11th international workshop on Real-time Ada workshop
Transparent Environment for Replicated Ravenscar Applications
Ada-Europe '02 Proceedings of the 7th Ada-Europe International Conference on Reliable Software Technologies
A Consensus Protocol for CAN-Based Systems
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
Replication Management in Reliable Real-Time Systems
Real-Time Systems
Embedded Systems Design
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Abstract: 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. In order to prevent such inconsistencies, a set of atomic multicast protocols is 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.