%0 Journal Article
%T Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System
%A Mouaaz Nahas
%J Journal of Embedded Systems
%D 2019
%R 10.12691/jes-5-1-1
%X The Controller Area Network (CAN) protocol is widely used in distributed real-time, resource-constrained embedded systems. CAN uses ¡°Non Return to Zero¡± (NRZ) coding and employs a bit-stuffing mechanism for clock synchronization. Such a mechanism causes a variation in the CAN frame length which may have a detrimental impact on the control behaviour of safety-critical systems employing this protocol. To address this issue, two techniques known as ¡°byte-based XOR masking¡± and ¡°software bit stuffing¡± were developed and achieved a jitter reduction of up to 20% and 40%, respectively, when employed in practical designs. This paper investigates the effectiveness of such techniques in a real-time control application; that is a simple furnace system case study based on a ¡°hardware-in-the-loop¡± (HIL) testbed facility. The results show that reducing bit stuffing jitter has the potential to improve the control performance of distributed real-time systems employing CAN protocol
%U http://www.sciepub.com/JES/abstract/8933