Adapting FTT-CAN for the joint dispatching of tasks and messages

摘要

In the context of a centralized holistic scheduling of tasks and messages, the dispatching can be an issue. In this paper it is presented an architecture with a centralized dispatcher that can be easily integrated in any distributed control system without introducing a significant overhead. A central node dispatches both tasks and messages to other nodes that are only required to possess a nano-kernel. Furthermore the interdependences between producer/consumer tasks and messages are studied, resulting in a set of constraints that guarantee the system feasibility. In the paper it is also shown that this solution is easily implemented using a protocol for message dispatching such as FTT-CAN (Flexible Time-Triggered Communication on CAN).