摘要： 分析了CAN总线的最差消息传输模型，提出了一种固定优先级调度算法；针对系统控制实时性的要求及特点，对6自由度平台系统的消息进行调度。实际使用证明，该方法改善了6自由度平台的整体控制性能，提高了网络利用率，消息的截止期得到满足。
关键词:
CAN总线,
固定优先级调度算法,
6自由度平台
Abstract: Message model in the worst-case for CAN bus is analyzed and a schedule algorithm based on fixed priority is proposed. According to the requirement and characteristic of the real control system, messages which are transferred in the six degree of freedom system are scheduled with the fixed priority algorithm. Through experiments, it is proved that the algorithm improves the performance of the six degree of freedom system and the networks utilization. It is also proved that the messages deadline is satisfied.
Key words:
CAN bus,
Fixed priority schedule algorithm(FPA),
Six degree of freedom platform
田 静;黄亚楼;王立文;李国洪. CAN总线固定优先级调度算法的应用[J]. 计算机工程, 2006, 32(23): 94-96.
TIAN Jing; HUANG Yalou; WANG Liwen; LI Guohong. Application of Fixed Priority Schedule Algorithm in CAN Bus[J]. Computer Engineering, 2006, 32(23): 94-96.