Survey of CAN field bus for safety critical systems
面向安全关键系统的CAN总线应用研究综述*

Controller area network (CAN) is a fieldbus network suitable for small-scale safety critical systems (SCS), being appropriate for sending and receiving short real-time messages at speeds up to 1 Mbps. This paper gives a survey of bus structure, protocol arbitration, real-time characteristics of CAN, studies on how to guarantee the real-time requirements of CAN messages and processes the bus errors. It compares the event-triggered protocol with time-triggered protocol for mission critical networks, discusses the research contents of time-triggered controller area network protocol.