On the design of an embedded FTT-CAN platform with improvement of its inherent jitter

Over the past years, important research has presented different approaches in the real-time embedded communication domain aiming to cover the growing demands of performance, predictability and reliability of emerging applications. Such requirements involve low latency, reduced jitter, time composability, fault-tolerance and finally, support for future extensions. Particularly in the automotive industry which is considering the possibility of replacing the major part of mechanical and/or hydraulic systems by electronic "by-wire" systems, the importance of ensuring predictable behavior while also presenting some degree of flexibility plays a key role. This paper presents a prototype implementation of the FTT-CAN protocol for an automotive system and also identifies and adopts a method to improve two inherent problems on FTT-CAN protocol - the release jitter generated by CAN bit stuffing method and messages priority inversion situations.