CAN Fieldbus Communication in the CSP-Based CT Library
Bojan Orlić, Hany Ferdinando, Jan F. Broenink · University of Twente Research Information · 2003
In closed-loop control systems several realworld entities are simultaneously communicated to through a multitude of spatially distributed sensors and actuators. This intrinsic parallelism and complexity motivates implementing control software in the form of concurrent processes deployed on distributed hardware architectures. A CSP based occam-like architecture seems to be the most convenient for such a purpose. Many, often conflicting, requirements make design and implementation of distributed real-time control systems an extremely difficult task. The scope of this paper is limited to achieving safe and real-time communication over a CAN fieldbus for an existing CSP-based framework.