Computer Engineering and Applications ›› 2014, Vol. 50 ›› Issue (4): 69-72.

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Shared-clock hybrid scheduling algorithm based on CAN

YAN Biyun1, WEI Yehua1,2   

  1. 1.College of Physics and Information Science, Hunan Normal University, Changsha 410081, China
    2.College of Computer, National University of Defense Technology, Changsha 410073, China
  • Online:2014-02-15 Published:2014-02-14

基于CAN总线的共享时钟混合调度算法

颜碧云1,魏叶华1,2   

  1. 1.湖南师范大学 物理与信息科学学院,长沙 410081
    2.国防科学技术大学 计算机学院,长沙 410073

Abstract: The CAN protocol is widely used in distributed embedded system. Early research has proved that shared-clock scheduling algorithm could be applied to CAN application layer to implement in time triggered architecture. In view of the shared-clock scheduling algorithms are used with time-triggered cooperative scheduler, they suffer some limitations, connected with the time-triggered hybrid scheduler, propose a shared-clock hybrid scheduling algorithm. Then the failure detection time and jitter of the algorithm is analyzed. Finally simulation model is built by using truetime toolbox; the experimental results indicate the superiority of the algorithm. It can improve the clock synchronization accuracy of the system, reduce the jitter, and hence strengthen the real-time character of the system.

Key words: Controller Area Network(CAN), shared-clock hybrid scheduling algorithm, time-triggered, jitter

摘要: CAN总线协议已广泛地应用在分布式嵌入式实时系统中,研究表明共享时钟调度算法能够很好地将基于CAN的微处理器和时间触发网络结构结合起来。针对现有共享时钟调度算法大多采用时间触发不可抢占调度机制的不足,结合时间触发混合调度模型,提出了一种共享时钟混合调度算法,并对算法的消息传输时间、错误检测时间和抖动进行了相应分析。使用Matlab下的Truetime工具搭建仿真平台,仿真结果表明,提出的算法能够减少传输时间,降低抖动,增强实时性。

关键词: 控制器局域网络总线, 共享时钟混合调度, 时间触发, 抖动