ANáLISIS DE PLANEAMIENTO DE PROTOCOLOS CAN CON CALIDAD DE SERVICIO

the can protocol transfers time sensitive and unrestricted time messages among nodes. to deliver messages within their useful lifetime to destination, priority scheduling is part of the design process. however, some messages in real systems may have relaxed time constraints, allowing even for occasional losses. allowing for packet losses of these messages, lower data rates can be achieved, thus solving synchronization difficulties at the receiving nodes. in this publication we propose an algorithm that schedules high priority messages that need to fulfill real time constraints, while it guarantees these constraints on lesser priority messages only on the average.