OSEK-based gateway algorithm for multi-domain CAN systems

The paper presents a new gateway algorithm designed for multi-domain Controller Area Network (CAN) systems which require to exchange large amount of data between numerous CAN units. The approach is compliant with any hierarchical CAN based distributed architecture, being tailored to efficiently manage CAN domains interconnected by gateways. The communication topologies are encrypted as graphs, aiming a flexible further utilization, increased scalability and a reduce memory consumption. For every handled CAN message, the gateways are enabled to provide a dynamic determination of the fastest available path and to correct buses overloading by appropriate message routing. The gateway algorithm exploits the OSEK event driven scheduling algorithm with static priorities to handle the necessary communication tasks. As consequence, the proposed approach provides increased responsiveness, as well as a good traffic balance between the CAN domains, without the need of transmitting additional messages, as demonstrated on two study cases involving distributed architectures of different complexity orders.