Real Time Control on CAN

Larik-Jan Parchomov

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The goal of this project is to get insight in the use of CAN (Controller Area Network) as a field bus for real-time control. A characterisation has been made of the CAN bus by testing a point-to-point connection between two CAN development boards. Also a third node has been intoduced to the network to measure arbitration and delays caused by the bus being `busy¿. The results show that the CAN bus is capable of transferring data at a maximum speed of 1 Mbps. With protocol overhead the effective data transfer speed is about 60 to 70 % of the maximum speed, so `useful¿ data can be sent at a speed of 600 to 700 kbps. Arbitration takes place by labelling CAN messages with certain priorities. The messages with the highest priority will be sent first. If the bus is busy, the transfer of messages is delayed, even if the message to be sent has a higher priority. To provide better real-time behaviour, time-triggered CAN should be compared to the results of this project.
Original languageUndefined
Place of PublicationEnschede
PublisherUniversity of Twente
Publication statusPublished - 2002
Externally publishedYes

Publication series

PublisherUniversity of Twente


  • IR-56345

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