Abstract
The Controller Area Network (CAN) is a broadcast medium providing advanced features, which make it suitable for many real-time applications. Common application layer protocols designed for CAN (e.g. CAL, SDS, DeviceNet) exploit these features in order to provide reliable real-time communication. However, they do not provide a consistent global message ordering in certain fault situations, nor do they consider temporal properties of the application.This paper presents a multicast protocol which supports timely delivery of messages and guarantees atomic order, under anticipated fault conditions. In order to support causal ordering of events, the paper provides a discussion on establishing Lamport's precedence relation between events by appropriate usage of real-time multicasts.In a CAN-based distributed system, the restricted communication bandwidth constitutes a serious bottle-neck. Therefore an important feature of this multicast protocol is to achieve optimal protocol termination time while requiring minimum communication overhead.
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