Abstract
This paper presents a dynamic precedence queue mechanism to resolve unexpected transmission delay of a lower priority transaction in a controller area network (CAN)-based system that keeps a fixed priority in data transactions. The mechanism is implemented in the upper sublayer of the data link layer (DLL), which is fully compatible with the original medium access control layer protocol of the CAN. Thus, the mechanism can be implemented dynamically while the data transactions are continuing without any hardware modification. The CAN protocol was originally developed to be used in the automotive industry and was recently applied for a broader class of automated factories. Even though the CAN is able to satisfy most real-time requirements found in automated environments, it is not able to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays in message transmissions. The proposed solution provides a superset of the CAN logical link layer control, which can coexist with older CAN applications. Through real experiments, effectiveness of the proposed mechanism has been verified.
Published Version
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