Achieving microsecond accuracy with 32 bit microcontrollers using the controller area network (CAN)
B. Donnelly · 2004
The time variation between nodes on a distributed system may cause critical deadlines to be missed. The paper outlines and illustrates a global clock algorithm to achieve microsecond accuracy with 32-bit microcontrollers. The method is then implemented in a simplified ABS (antilock breaking system) to show how a global clock can improve the CAN bus. The paper underlines the benefits of global clocks by comparing the ABS with and without a global clock. A global time base of approximately 4.5 microseconds is achieved. The protocol is simple and uses a small amount of bandwidth (<10 messages/second).