Many

Many

Many


 Main


Hn Ht M Hn Ht M
Hl Hn Ht M


Node 1 Node 2 Node 3 Node 4

1 0 1 0
B
EN

CLOCK
B
EN

CAN Bus


L = La v (i + o) tprop=La/v La=v b/2

b = Ti + 2 tprop + Ri = 1/R
R tprop = / 2
La= (b Ti Ri) v / 2
2 tprop = 2 (L/v + i + o)
 A
F

For 11 bit CAN Notation

F (34 A) / 5 47 A : Efficiency
A: Payload bits
F: Total bits
For 29 bit CAN
F (53 A) / 5 66 A

Ri = Ji + ti

ti = Bi + Ci + Ii(ti) + Ei(ti)
34 8b 1
Ci (44 8b ) b
4
Bi max (C k ) S
klp(i )

t Ci J j b
I i (ti )
jhp(i ) Tj
(C j S)

Ei(ti) = K Mi

Mi = E + jhep(
max C j
j)

Priority Length Period Deadline WCRT Ri WCRT Ri

Ci ,(s) Ti, (s) Di, (s) CAN FlexCAN

1 288 2000 2000 828

299
2 328 4000 4000 1168
638
3 328 4000 4000 1508
977
4 528 8000 8000 2048
1516
5 248 12000 12000 2608
1775
6 528 240000 240000 2320
2314