CAN upgrade toward determinism and composability

The paper presents two solutions aimed at making the CAN networks deterministic and composable. The two solutions run on the application layer and exploit the services offered by either CANopen or the native CAN protocol. In the first solution, named Multimaster, each node operates as a master and the transmission cycle is initiated by a synchronization message. In the second solution, named SynCAN, each node transmits only in a fixed slot of time and in a sequence established a priori. The efficiency of the two solutions is analyzed and experimental data on the first solution are given.