Industrial Communication Systems

Controller Area Network 31-11

e protocol also takes advantage of the native arbitration to handle event-triggered trac in the

same

way

as

the

original

CAN

protocol

does.

Particularly,

there

is

no

need

for

the

master

to

poll

the

slaves

for

pending

event-triggered

requests.

Slaves

with

pending

requests

may

try

to

transmit

immedi-

ately,

as

in

normal

CAN,

but

just

within

the

respective

phase

of

each

EC.

is

scheme,

similar

to

the

arbitration

windows

in

TTCAN,

allows

a

very

ecient

combination

of

time

and

event-triggered

trac,

particularly

resulting in low communication overhead and shorter response times.

In

FTT-CAN

the

bus

time

is

slotted

in ...