A Real-Time Operating System with Inter-Node Resource Management and Distributed Shared Memory Using CAN Arbitration

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  • CANアービトレーションを用いたノード間リソース管理機能及び分散共有メモリ機能を有するリアルタイムOS

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The paper presents a real-time operating system (RTOS) that supports shared resource management and distributed shared memory (DSM) for distributed embedded control systems with CAN (Controller Area Network) buses. The inter-node locking is efficiently implemented using the arbitration mechanism of CAN. The inter-node resource access protocol is based on the Multiprocessor Priority Ceiling Protocol (MPCP). The DSM supports entry consistency. We have built the RTOS by extending the resource management system calls of OSEK OS. We have also evaluated the CPU execution time of the system calls and have confirmed that the performance is acceptable for practical embedded control systems.

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