Kernel design for FTT-CAN systems

Abstract

In the context of a centralized holistic scheduling of tasks and messages, the complexity of the involved kernels is of utmost importance. Its complexity influences directly the overhead at the computing nodes. In this paper, an architecture of a kernel is presented. This kernel can be integrated in the computing nodes of a distributed control system without introducing a significant overhead. A central node dispatches both tasks and messages to other nodes that are only required to possess a nano-kernel. A case study where these concepts were partially implemented is also presented. This case study demonstrates that this kind of kernel can easily be implemented with low processing power microcontrollers.