Developing TOBE-CAN: Total order broadcast enforcement in CAN

One of the drawbacks of the Controller Area Network (CAN) that must be overcome to make it suitable for critical applications is its incapacity for providing a Total Order Broadcast (TOB) communication service. A number of mechanisms were proposed to solve this problem, but each one of them only addresses a specific TOB limitation. Thus, this paper introduces TOBE-CAN, the first solution that comprehensively overcomes all the TOB flaws these previous mechanisms deal with. TOBE-CAN takes advantage of some of these mechanisms and further provides TOB while tolerating faults that are beyond their capabilities.