@article{jes2018511,
author={Nahas, Mouaaz},
title={Impact of Reducing Bit Stuffing Jitter on the Control Performance of a CAN-Based Distributed Furnace System},
journal={Journal of Embedded Systems},
volume={5},
number={1},
pages={1--6},
year={2018},
url={http://pubs.sciepub.com/jes/5/1/1},
issn={2376-7979},
abstract={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.},
doi={10.12691/jes-5-1-1}
publisher={Science and Education Publishing}
}