Abstract
Controller Area Network (CAN) is a well-designed communications bus for sending and receiving short real-time control messages at speeds of up to 1Mbit/sec. One of the perceived drawbacks to CAN has been the inability to bound accurately the worst-case response time of a given message (i.e., the longest time between queueing the message and the message arriving at the destination processors). This paper presents an analysis to bound such latencies. A benchmark is used to illustrate the application of this analysis.
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