Multi-Domain CAN Gateway with Monitoring Capabilities

Abstract

The paper presents a multi-domain Controller Area Network (CAN) software gateway with monitoring capabilities, targeted to distributed systems with complex architectures. Besides allowing a large amount of datca exchanged between numerous CAN units, the gateway uses the traffic monitoring in order to implement adaptive message routing. The messages are sent on the fastest route which is able to maintain adequate traffic balancing. For increased reliability in the management of the critical messages, the transmission is done based on the priorities deduced from message ID’s. Besides, the gateway stores in a local memory the optimal routes corresponding to nominal conditions and recalculates the paths only if the traffic load changes on the involved CAN buses or any communication error occurs. The embedded gateway application is based on OSEK real time operating system and allows USB communication with a PC, in order to visualize extensive information about CAN communication. The real time performances of the suggested solution are demonstrated on a distributed system involving multiple interconnected CAN domains.