EE 714 High Speed

Computer Networking

Automobile networking

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Current State
 CAN bus cannot carry
all data
 Temporary solution:
Have multiple CAN
buses
 Each bus has its own
collision domain
 Messages are sent
between different CAN VW Passat CAN
Network
domains using CAN-
CAN gateways

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

CAN is not enough for BMW
 Busload on different CAN
sub-buses close to the
maximum acceptable load
already.
 No bandwidth reserves for
future functional extensions.
 Unacceptable delays
caused by multiple
gateways.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

CAN is not enough for BMW
 Unacceptable level of
complexity and additional
costs for system integration
and warranty.
 The non deterministic
behavior of CAN at high bus
loads leads to a poor quality
of the electrical control
systems (vehicle dynamics).

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Motivation
 A consortium of major companies from the automotive field
 The core members are BMW, Bosch, Daimler, Freescale,
General Motors, NXP Semiconductors, Volkswagen
 Specification is open and available for download at:
http://www.flexray.com/
 Dec. 7, 2006:“FlexRay protocol has entered its production
phase with devices from NXP(formerly Philips
Semiconductors) and Freescale Semiconductor in BMW's
newest X5 sport activity vehicle.”

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

 FlexRay in application

BMW 7 2009 electronic stability

program(ESP):
 stabilize the vehicle in critical driving

situations by braking individual wheels.

 ESP sensor signals also assist processes

such as faster airbag deployment.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Idea

 Combine TTP (time-triggered) and Byteflight

(event-triggered) at a high speed
 Net data rate 10 Mbps at gross 20 Mbps
 Standard TDMA  For periodic data (static
segment)
 Flexible TDMA  For sporadic data (dynamic
segment)
 Repeating communication cycles with static and
dynamic segments

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Idea
 Two channels
 Each up to 10Mbps
 Reliability
 To provide more bandwidth
 Topology:
 Flexible with regard to
topology and transmission
support redundancy.
 Bus, a star, or a multistar
 Passive Bus
 Maximum distance 24m

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay timing hierarchy
 The time representation
inside a FlexRay node:
 cycles, macroticks and
microticks.
 A macrotick = an integer
number of microticks.
 A cycle = an integer
number of macroticks

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay timing: Microticks

 Time units derived directly from the

communication controller's (external)
oscillator clock tick.
 Controller-specific units
 They may have different durations in different
controllers.
 The granularity of a node's internal local time
is a microtick.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay timing: Macroticks
 Synchronized on a cluster-wide basis.
 Duration is identical throughout all synchronized
nodes in a cluster.
 The number of microticks per macrotick may also
differ between nodes, and depends on the oscillator
frequency
 Designated macrotick boundaries are “action points”
 Transmissions start here – static; dynamic; symbol window
 Transmissions end here – dynamic segment

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay MAC
 FlexRay
communication cycle:
 a time-triggered (or
static) window
 an event triggered (or
dynamic) window
 concatenation
 Communication windows:
 executed periodically
 The size is set statically at
design time
 Two distinct protocols are
applied

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay MAC

 The time-triggered window uses a TDMA

MAC protocol
 The event-triggered window uses Flexible
TDMA (FTDMA)

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Static Window
 A number of static slots of
identical length
 Frame identifier is used to
allocate a frame to a static slot
 TDMA order is by ascending
frame ID number
 Frame sent when assigned
slot number matches static slot
counter
 Static slot passes unused if no
frame is assigned
 Multiple slots per node within
the static segment can be
assigned

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Static Window
 Two-channel operation:
 Sync frames on both
channels; other frames
optionally 1 or 2 channels
 Less critical/less expensive
nodes might only connect to
one channel  The main difference with
 Slots are lock-stepped in TTP/C:
order on both channels  A station might possess
several slots in the time-
triggered window
 The size of all the slots is
identical

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Dynamic Window
 Consists of mini-slots
 Each minislot is an opportunity
to send a message
 If message is sent, minislot
expands into a message
transmission
 If message isn’t sent, minislot
elapses unused as a short idle
period
 All transmitters watch whether
a message is sent so they can
count minislots
 Two channels are independent

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Dynamic Window
 Frame ID # is used for slot
numbering
 First dynamic Frame ID = last
static Frame ID + 1
 Dynamic segment has a fixed
amount of time
 Fixed number of macroticks,
divided up into minislots
 There might or might not be
enough time for all dynamic
messages to be sent
 When dynamic segment time is
up, unsent messages wait for
next cycle

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Dynamic Window
 Messages with the lowest
Frame ID are sent first
 Each Frame ID # can only
send ONE message per cycle
 As many message as will fit in
dynamic segment are sent
 This means that only highest
priority messages queued are
sent in each cycle
 Idle minislots consume
dynamic segment bandwidth
 But minislots are a lot smaller
than messages

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Communication cycle

 Maximum duration: 16000μs

 SW (symbol window), NIT (network idle time)

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay frame
 Header: 5 B, contains
identifier: Frame’s slot number
(1 .. 2047)
 Cycle Count: Number of
current cycle
 Payload segment: up to 254 B
of data
 CRC: 24 b
 NRZ encoding

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

 FlexRay Node
 Components:
 Host: application CPU
 Protocol engine
(Communication
Controller-CC):
schedule, frames,
synchronization
 CHI (Controlller-Host
Interface): service
interface for host
controller

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Node: Controller Host
Interface
 Interface of the protocol engine and the host
processor
 Configuration:
 Protocol related: timing parameters, etc.
 Message related: buffer configuration, etc.
 Services:
 Timers
 Interrupt service for different sources
 Message ID filtering
 Network management

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Node: Bus Guardian
 Bus Guardian:
 Supervises bus access
 Node-local bus guardian
 Separate communication controller within a node
 Supervises media access during static segment
 Signals errors to the host
 Central bus guardian
 Implemented as active star
 Connects multiple branches
 Collision resolution on cluster startup, media access control
for each branch

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

 FlexRay Node: Fujitsu Solution
 Host: Fujitsu
MB91F467D
microcontroller
 Communication
Controller:Fujitsu
MB88121B FlexRay
controller
 Transceiver: TJA1080
transceiver

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Node: Fujitsu Solution

 Register block:
 The control registers that configure a FlexRay
device.
 The registers for tracking and providing updated
information on protocol status.
 A message buffer interface, which a CPU needs
in order to receive and transmit data, including
information that comes from the register block.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Node: Fujitsu Solution

 The timing unit:

 Timing control and clock synchronization
 A protocol “state” system:
 Executes protocol logic.
 Startup, error and message handling, and other
communications.
 Receive and transmit units

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling
 Two separate segments
have to be scheduled
 Segments are coupled by
the FlexRay cyle length:
 Static segment (SS) length +
Dynamic Segment (DS)
length = FlexRay cycle
length (SW, NIT not
considered)
 FC duration: Tc =
TcSS+TcDS

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: FlexRay Cycle
 Static segment length: TcSS
 All messages are carrying periodic signals
 All signals have to be scheduled in multiples of the
FC duration Tc
 Result:
 We have to choose Tc as the greatest common divisor
(gcd) of the signal periods or an integer divisor of that
value.
 Some constraint from the Tc DS will define the final
Tc

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Static Segment Scheduling
 Schedule:
M Message Sending Allocated Schedule
Period node FID Reservation  Allocation of FIDs to nodes
(ms) Period (ms)
1 5 1 1 5x1=5
 Cycles to send messages in
2 50 2 2 5x8=40 allocated FIDs
3 40 3 3 5x8=40
4 20 3 3 5x4=20
5 50 3 3 5x8=40

FlexRay Static Segment

 Each FID: FID1 FID2 FID3 FID4

 Allocated to a unique node FC1 N1_M1 ...

FC2 N1_M1 ...

 More than one message FC3 N1_M1 N3_M4 ...

can be sent FC4 N1_M1

FC5 N1_M1 N3_M3
...

...

 Allocation at 2n cycles FC6 N1_M1 N3_M5

FC7 N1_M1 N2_M2 N3_M4
...
...
FC8 N1_M1 ...

FlexRay Cycle =5ms

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling

 Performance metrics:
 Utilization:
 Used Bandwidth/Allocated Bandwidth  must be
maximized
 Number of FIDs that are allocated  represents the
allocated bandwidth, must be minimized
 Jitter: Similar to TTCAN, can the periodic
messages be sent periodically?

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Static Segment Scheduling
Performance Metrics
FlexRay Statik Bölüt  M5: generated every 50ms
FID1 FID2 FID3 FID4  Allocated bandwidth: 1
FC1 N1_M1 ... slot/40ms  Delay < Deadline
FC2 N1_M1 ...  4 messages per allocated 5
FC3 N1_M1 N3_M4 ...
slots
FC4 N1_M1
FC5 N1_M1 N3_M3
...

...
 %80 utilization
FC6 N1_M1 N3_M5 ...  Jitter
FC7 N1_M1 N2_M2 N3_M4 ...
FC8 N1_M1 ...

FlexRay Çevirim =5ms

 FID allocatıon (FA)

M5 generation
 Allocated slots 0 50 100 150 200 times (ms)
 Amount (SA)
 Utilization (U)
M5 sending
 Delay  Deadline 0 40 80 120 160 200 times (ms)
 Jitter  Periodic transmission

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Proposed FlexRay Static Segment
Schedules
M Message Sending Schedule 1 Schedule 2
Period Node reservation reservation
(ms) Period (ms) Period (ms)
1 5 1 5x1=5 5x1=5
2 50 2 5x8=40 5x2=10
3 40 3 5x8=40 5x8=40
4 20 3 5x4=20 5x4=20
5 50 3 5x8=40 5x2=10

Schedule 1: Efficient bandwidth use Schedule 2: QoS-oriented, no jitter

FC1 N1_M1 FC1 N1_M1 N2_M2

FC2 N1_M1 FA= 3 FC2 N1_M1 N3_M5 FA= 3
FC3 N1_M1 N3_M4 SA=1.625 FC3 N1_M1 N2_M2 N3_M4 SA=2.375
FC4 N1_M1
N3_M3
U=%92 FC4 N1_M1 N3_M5
U=%78
FC5 N1_M1 FC5 N1_M1 N2_M2 N3_M3
FC6 N1_M1 N3_M5 FC6 N1_M1 N3_M5
FC7 N1_M1 N2_M2 N3_M4 FC7 N1_M1 N2_M2 N3_M4
FC8 N1_M1 FC8 N1_M1 N3_M5

FlexRay Cycle=5ms FlexRay Cycle =5ms

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas
 Cycle multiplexing: Each message is scheduled with
three parameters: FID, Repetition, Offset
 Message M, FID: Period: pM, fM, Repetition rM,
Offset: OM

A: FID=1, Repetition=1, Offset=0

B: FID=2, Repetition=2, Offset=0
C: FID=2, Repetition=2, Offset=1

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas
 Message M, FID: Period: pM, fM, Repetition
rM, Offset: OM
Meet the deadline (deadline=period)

FlexRay operation rule

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas
 Partial FID allocation by statistical
multiplexing
 AM: Allocated bandwidth for message M with
repetition rM

A has 1 complete FID

B has ½ of an FID
C has ½ of an FID

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas
 For a given node i, minimum required
number of FIDs:

 For all nodes the total number of FIDs:

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas
 The message jitter for a periodic message M:
deviation of the inter-transmission times from
the periodicity of M
 Message M, Repetition rM, Period: pM

 If b=0  No jitter

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas

 pM=5, rM=22=4, oM=0

 pM=k. rM + b, k=1,b=1
 Inter transmission times: k.rM or (k+1).rM 4 or 8
 Possible jitter values: b or rM – b 1 or 3

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

 FlexRay Scheduling: Static Segment
Ideas

The transmission pattern repeats every lcm(4,5)=20 cycles

 the inter-transmission time 8 occurs once,

 inter-transmission time 4 occurs 3 times, leading

 Total jitter= (8 − 5) + 3 · (5 − 4) = 6

 Relative jitter per cycle=6/20=0.3

 In general relative jitter per cycle for message M is JM:

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Scheduling: Static Segment
Ideas
 The goal of the FlexRay schedule construction for
the SS:
 Deadlines must be met
 Minimum FID allocation FA
 Minimum jitter J
 Trade offs between minimum FID allocation and
Jitter
 Optimization formulation:

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Experimental Study: Results-Static
segment
 6 nodes
 51 messages
 Real vehicle signals
 Largest payload 8B
 Periods: 5ms to 2s

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Experimental Study: Results-Static
segment
Schedule 1 Schedule 2 No Schedule 2 +
Efficient Use Jitter Signal
Packing
Number of reserved FIDs 15 21 21
Number of reserved slots 11.78 17.43 16.81
Reserved capacity (%) 7.3 10.8 9.8
Utilization (%) 97.3 65.7 68
Average delay (%) 28.18 15.47 15.3
(Normalized)
Average jitter (%) 12.36 0.01 0.01
(Normalized)
Max delay (%) 77.01 53.41 67.41
(Normalized)
Max jitter (%) 59.98 0.02 0.02
(Normalized)

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay Dynamic Segment
Scheduling
 Parameters M Mesaj
Message
Periyodu
Mesaj
Message
uzunluğu
Öncelik
Priority
period length
 Dynamic segment duration (ms)
(ms) (minislot)
(minislot)

 Traffic load 6 20 7 5

 Message lengths 7 10 7 1
8 5 3 2
 Message priorities
M7 M8
 Metrics M8 M6
 Message delays M7
 Deadline misses
M6
 Idea: Keep DS length as
M8
short as possible to leave
space for SS M7 M8

Statik
Static Bölüt
Segment Dinamik
Dynamic Bölüt
Segment SW,NIT

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

 Experimental Study: Results-
Dynamic Segment
Max. Delay vs. Priority Levels Max. Delay vs. Priority Levels

70000 40000

60000 35000
Max. Delay (m icroseconds)

Max. Delay (m icroseconds)

50000 30000

25000
40000
20000
30000
15000
20000
10000
10000
5000

0 0
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35
Priority Level Priority Level

50 Minislots 100 Minislots 200 Minislots 307 Minislots Decreasing Payload Length Increasing Payload Length

 The correct duration for  High priorities must

the Dynamic Segment be given to small
must be determined messages.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay-CAN Comparison CAN Delay FR Delay CAN Jitter FR Jitter
8000 900
7000 800
6000 700
Gecikme (mikrosec)

5000 600

Jitter (mikrosec)
500
4000
400
3000
300
2000 200
1000 100
0 0
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25

CAN-FR ID CAN-FR ID

 26 messages
 CAN schedule: Deadline monotonic: Message with
the smallest deadline gets the highest priority
 FlexRay schedule: No jitter

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay CAN Gateway
CAN FR
 CAN and FlexRay will GW

co-exist CAN FR

 CAN: low-speed signals

CAN FR
 FlexRay: XbW
applications Existing CAN network: New FlexRay network:
ECUs, sensors, actuators ECUs for X-by wire,
 Example: Automatic sensors, actuators
parking
 CAN: steering angle  A gateway to enable
sensors, speed sensors communication between
 FlexRay: microcontroller, FlexRay-CAN networks
actuators

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

FlexRay-CAN Gateway
 Performance Metrics:  Problems:
 Correct protocol  Fragmentation and
conversion (FRCAN) reassembly of the messages
 Gateway processing  Queuing in the Gateway
delay: bounded, low  Implementation:
delay, small jitter
 Microcontroller programming
 Mapping signals to
messages as required

S1 S2 FR->CAN S1 S3
P2: Periyodik FlexRay Mesajı
P2: Periodic FR message C9:C9:
CANCANmessage
Mesajı C10:
C10:CAN Mesajı
CAN message

S14 S15 CAN->FR S14 S15

C25: CAN D4:Sporadik
SporadicFlexRay Mesajı
C25: CANMesajı C26: CAN
message C26:Mesajı
CAN message D4: FR message

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Experiment Set up
 Fujitsu SK-91465X-
100PMC evaluation
board for FR and
CAN nodes
 FlexConfig
Configuration Tool
 Bus traffic
measurement:
FlexCard

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Implementation
 FlexRay and CAN nodes
over Fujitsu SK-91465X-
100PMC evaluation
board
 32 Bit Flash
Microcontroller
 2 FlexRay transceievers
(A,B)
 2 High Speed CAN
transceivers
Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT
Implementation - FlexConfig
 FlexRay configuration variables
can be modified over a GUI
 FlexRay configuration variables :
 Cycle time (gdCycle)
 Macrotick duration (gdMacrotic)
 Number of Static Slots
(gNumberOfStaticSlots)
 Static Slot length
(gPayloadLengthStatic)
 Static Slot duration(gdStaticSlot)

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Implementation– FlexCard Cyclone
II SE
 Measurement and
logging of bus traffic
 32 Bit CardBus card
 2 FlexRay Channels
 2 CAN Channels

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Test of Correct Operation

S5
S4
S3

(a )

S12 S 11
S10

(b )
S3 S4 S5 FR->CAN S3 S4 S5
FlexRay Message CAN Messages

S12 CAN->FR S12

CAN Message FlexRay Message

S10 S11 CAN->FR S10 S11

CAN Message FlexRay Message

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

Experimental Study: Gateway
Processing Delay
CANFR
 Delay: 50 μs
 Delay variation: 6μs
 FRCAN delay
measurements include
polling time
FRCAN

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

 Experimental Study: End-to-end
signal communication  CAN schedule:
CAN Delay GW Delay FR Delay E2E Delay
14  Maintains the existing
12 CAN schedule
10  The new CAN
Delay (ms)

8
messages coming from
6
FR via GW get the
4
highest priority possible
2
0
S1 S2 S3 S4 S5 S6 S7 S8 S9 S10 S11 S12 S13 S14 S15
 FR schedule:
Signals
 No jitter
FRCAN CANFR  The appropriate
Polling Effect GW processing
delay : 50 µs
duration of the DS is
determined

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

How is FlexRay doing now? BMW
X5

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

How is FlexRay doing now? BMW
X6
 Adaptive Drive
technology:
 Sensors in the vehicle
continuously monitor:
 vehicle speed,
steering-wheel  The data speeds
position, the pitch and along the vehicle’s
yaw forces acting on FlexRay network to
the BMW chassis.
the chassis control
system.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

How is FlexRay doing now? BMW
X6
 Using this data, the system automatically
adjusts:
 the vehicle’s stabilizers and dampers,
 changing their settings quickly and accurately
to counteract the forces that might cause the
body to roll or sway.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

MOST - (Media Oriented Systems
Transport)
 A multimedia network development
 Initiated in 1998 by he MOST Cooperation (a
consortium of carmakers and component
suppliers).
 Provides point-to-point audio and video data
transfer with a data rate of 24.8 Mb/s.
 End-user applications like radios, global
positioning system (GPS) navigation, video
displays, and entertainment systems.
Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT
MOST - (Media Oriented Systems
Transport)
 The MOST’s physical layer is a plastic optical
fiber (POF) transmission support
 better resilience to EMI and higher
transmission rates than classical copper
wires.
 Current production cars from BMW and
DaimlerChrysler employ a MOST network.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

LIN - (Local Interconnect Network)

 Low-cost serial communication system

 Developed by a set of major companies from
the automotive industry (e.g.,
DaimlerChrysler, Volkswagen, BMW, and
Volvo)
 Widely used in production cars.

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

LIN - (Local Interconnect Network)

 A LIN cluster consists of one “master” node

and several “slave” nodes connected to a
common bus.
 the physical layer: single wire with a data
rate limited to 20 kb/s due to EMI limitations.
 The schedule table:
 contains the list of frames that are to be sent
 their associated frame slots
 determinism in the transmission order

Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT

LIN - (Local Interconnect Network)

 The master node decides when and which

frame shall be transmitted according to the
schedule table.
 At the moment a frame is scheduled for
transmission, the master sends a header
inviting a slave node to send its data in
response.
 Any node interested can read a data frame
transmitted on the bus.
Fall 2010 METU EEE EE 714 Ece GURAN SCHMIDT