CSP channels for CAN-bus connected embedded control systems

Closed loop control system typically contains multitude of sensors and actuators operated simultaneously. So they are parallel and distributed in its essence. But when mapping this parallelism to software, lot of obstacles concerning multithreading communication and synchronization issues arise. To overcome this problem, the CT kernel/library based on CSP algebra has been developed. This project (TES.5410) is about developing communication extension to the CT library to make it applicable in distributed systems. Since the library is tailored for control systems, properties and requirements of control systems are taken into special consideration. Applicability of existing middleware solutions is examined. A comparison of applicable fieldbus protocols is done in order to determine most suitable ones and CAN fieldbus is chosen to be first fieldbus used. Brief overview of CSP and existing CSP based libraries is given. Middleware architecture is proposed along with few novel ideas

EDF Consensus on CAN Bus Access for Dynamic Real-Time Applications

The paper introduces a mechanism to implement distributed scheduling for CAN-bus resource in order to meet the requirements of a dynamic distributed real-time system. The key issues considered here, are multicasting, distinguishing between hard real-time, soft real-time, and non real-time constraints, achieving high resource utilization for CAN-bus, and supporting dynamic hard real-time computing by allowing dynamic reservation of communication resources.