A router for improved fault isolation, scalability and diagnosis in CAN

Abstract

Abstract-Controller Area Network (CAN) provides an inexpensive and robust network technology in many application domains. However, the use of CAN is constrained by limitations with respect to fault isolation, bandwidth, wire length, namespaces and diagnosis. This paper presents a solution to overcome these limitations by replacing the CAN bus with a star topology. We introduce a CAN router that detects and isolates node failures in the value and time domain. The CAN router ensures that minimum message interarrival times are satisfied and reserves CAN identifiers for individual CAN nodes. In addition, the CAN router exploits knowledge about communication relationships for a more efficient use of communication bandwidth through multicast messaging. An implementation of the CAN router based on a Multi-Processor System-on-a-Chip (MPSoC) shows the feasibility of the proposed solution.

Mixed-Criticality Systems based on a CAN Router with Support for Fault Isolation and Selective Fault-Tolerance

“…In previous work (see Obermaisser and Kammerer (2010); Kammerer et al (2012)) an MPSoC based CAN router was introduced that supports fault containment and fault masking. Figure 1 gives an overview about the CAN router.…”

“…The router implements a star topology and is designed for fault detection and fault containment. For the sake of brevity we provide a short overview about the most important services, but the interested reader is referred to papers describing the services in more detail (see Obermaisser and Kammerer (2010); Kammerer et al (2012)).…”

Dynamic configuration of a time-triggered router for controller area network

“…As presented in previous work [8], [11], a time-triggered router for CAN exploits a priori knowledge about the communication behavior of nodes in order to improve the dependability, performance and composability in CAN-based systems. The disadvantage of this approach is that a given configuration of the router restricts modifications of the system such as the replacement, addition or removal of nodes and messages.…”