Time-triggered CANopen implementation for networked embedded systems

Networked embedded systems using event triggered communication are widely used in industry. While the bus load increases, the transmission of the lower priority messages may experience variable delays (jitter) or even may be unable to be transmitted. Even at maximum load, the transmission of such messages has to be guaranteed and the delivery time has to be determined with high precision. CANopen is an industrial event-driven network based on Controller Area Network (CAN) protocol at the physical and data link communication levels. A time-triggered software extension of CANopen based on Time-Triggered CAN is described in this paper, as well as its implementation on an embedded networked system based on microcontrollers.