Atomic Multicast Protocols for Reliable CAN Communication

Luís Miguel PinhoFrancisco Vasques

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. This misbehaviour may be disastrous if the CAN network is used to support replicated 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.

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