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Extra resources for Distributed Computer Control Systems 1994. IFAC Workshop, Toledo, Spain, 28–30 September 1994
Secondly, the CAN message arbitration gives priority to requested messages over RTR messages with the same identifier. 7K(m) tm+Cm ifmeRTR otherwise (4) Where RTR is the set of RTR messages. The term tm represents the queueing delay for message m (as before), but this queueing delay must also include the time taken to transmit the RTR message. The interference from higher priority RTR messages must include the transmission of the corresponding data message. Equation 3 is therefore updated to: im=Cm+^m+CjOT(m))+*+ Σ tm+Jj+tblt (5) \CJ+CRTR(J)J Vjehp(m)\ Thus we have completed the analysis of CAN.
In the worst-case, upon detection of an error the recovery process requires the transmission of up to 29 bits (plus the re-transmission of the message). To include the costs of error handling in 32 Because the worst-case response time of an RTR message includes the time taken to transmit the requested message, we must re-define the equation for the worst-case response time of a given message m (from equation 1): message has been queued since the transmission of the RTR message, then the higher priority message will be transmitted after the RTR message has been sent and before the requested message is sent.
Péraldi. (1993). Effective imple mentation of ESTEREL programs. Proc. 5 t h Euromicro Workshop on Real-Time Systems, Oulu (Finland), June, IEEE, 262 - 267. C. André and M-A. Péraldi. (1993). Synchronous programming: Introduction and application to industrial process control, Proc. 7th An nual European Computer Conference, Evry (France). May, IEEE, 461 - 470. Some ideas developed in thi: paper are sufficiently general to be applied to • distributed reactive object programming. A. Benveniste and G.