Modelling and analysis of broadcasting embedded control systems

This paper introduces a framework for the development, modelling and analysis of distributed, real-time control systems which communicate using the deterministic broadcast communication protocol, CAN. We adopt a hierarchical approach in which system designs are expressed in the high-level, Ada-like, language, CANDLE, which is given a timed transition semantics by translation to a base language, bCANDLE (pronounced “basic candle”) which is a simple but expressive process language with a value passing, broadcast communication primitive, message priorities and an explicit time construct