Integrated scheduling of heterogeneous CAN and Ethernet-based hard real-time network

This paper discusses some problems in scheduling heterogeneous Ethernet/CAN real-time networks. Modification of standard Ethernet-based communication subsystem to token-ring, flow-chart and its corresponding Petri-net are provided. Analyses of protocol structure, concurrences, possible raised conditions and methods for their suppression are main target of the paper. Integrated structure of Ethernet/CAN real-time communication subsystem is also analyzed.