CAN - RT - TOP : Real - Time Task - Oriented Protocol over CAN for Analyzable Distributed Applications
نویسندگان
چکیده
This paper presents the design and implementation of CAN-RT-TOP (Real-Time Task-Oriented Protocol over CAN), which is a high level protocol over CAN. Although the CAN Bus uses fixed priorities, some standard protocols over CAN assign the priorities to specific nodes by encoding it in the destination node identifier, which produces reduced schedulability. The protocol presented in this paper provides applications the capability of choosing the message priorities that each task wants to use, thus increasing sched-ulability. It has been implemented on a real-time kernel for embedded systems called MaRTE OS.
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