As a common resource, the CAN bus has to the shared by all computing nodes. Access to the bus has to be scheduled in a way that distributed computations meet their deadlines in spite of competition for the communicaion medium. The paper presentsan evaluation of a resource scheduling scheme for CAN, which is based on time-slot reservation and dynamic priorities. The processing overhead as well as the schedulability parameters of the hybrid bus scheduling scheme are analyzed and compared with TDMA and the fixed priority assignment.
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