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CAN Bus Experiments of Real-Time Communications

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Part of the Communications in Computer and Information Science book series (CCIS,volume 790)


This paper presents a benchmark development and the analysis of communication times in a CAN (Controller Area Network) bus. Preemptive and fixed priority scheduling is taken as departure point for the initial experiments and analysis. This method would be adapted for programming CAN messages without preemption of the shared communications channel. It is also complemented by a specific priority assignment algorithm, suitable for non-preemptive systems. A real CAN network is used for the experiments, and results are analyzed from the point of view of real-time performance and CAN specification. We have found well known, deterministic, and correct performance communication times. Messages and signals are delivered within deadlines, a fundamental requirement for a real-time system.


  • CAN bus implementation
  • Real-time experiments
  • Instrumentation and monitoring
  • Real-time schedulability

F. G. Tinetti—Comisión de Investigaciones Científicas, Prov. de Bs. As.

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  • DOI: 10.1007/978-3-319-75214-3_24
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Correspondence to Fernando G. Tinetti .

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Tinetti, F.G., Romero, F.L., Pérez, A.D. (2018). CAN Bus Experiments of Real-Time Communications. In: De Giusti, A. (eds) Computer Science – CACIC 2017. CACIC 2017. Communications in Computer and Information Science, vol 790. Springer, Cham.

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  • Print ISBN: 978-3-319-75213-6

  • Online ISBN: 978-3-319-75214-3

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