摘要
控制器局域网CAN总线已经广泛应用于嵌入式实时系统中,如车载实时控制与无人驾驶车辆领域。但是,随着嵌入式实时系统实时性要求的不断提高,系统的确定性以及总线带宽资源的限制受到了重视,而柔性时间触发控制器局域网(FTTCAN)可以同时支持时间触发和事件触发信息,集合了信息调度的确定性和灵活性,能够满足系统确定性、实时性要求。为了获得较高总线利用率及避免低优先级信息死锁,本文将优先级动态提升调度方法引入FTTCAN,通过调度车辆信息实例,验证了该算法良好的调度性能。
Controller Area Network has been widely used as an embedded network in real time industry systems, e.g. real time in-vehicle control applications and driverless vehicles. However, with the increasing criticality of real time mobile control systems requirements of the embedded network have changed and emphasis on dependability and bandwidth limitations. Flexible time-triggered CAN (FTTCAN) supports CAN to fulfill current dependability requirements and supports both periodic and sporadic real-time messages as well as non-real-time messages. In particular, FTTCAN integrates dependability and flexibility of scheduling messages. To achieve higher bus utilization and avoid lower priority messages in asynchronous traffic suffering from starvation, a planning-based dynamic scheduling policy is introduced in this paper. Through a case study, its performance is evaluated for scheduling messages on CAN for real time mobile systems.
出处
《电气技术》
2010年第9期29-31,39,共4页
Electrical Engineering
