资源描述：
《A Comparisonof Linux CAN Drivers and theirApplications》由会员上传分享，免费在线阅读，更多相关内容在行业资料-天天文库。
1、AComparisonofLinuxCANDriversandtheirApplicationsMichalSojka,PavelP´ısa,MartinPetera,OndˇˇrejSpinkaandZdenˇekHanzˇalek´DepartmentofControlEngineering,FacultyofElectricalEngineeringCzechTechnicalUniversityKarlovonam´estˇ´ı13,12135Prague2,CzechRepublicsojkam1@fel.cvut.cz,pisa@
2、cmp.felk.cvut.cz,martin.petera@gmail.com,spinkao@fel.cvut.cz,hanzalek@fel.cvut.czAbstract—TheaimofthispaperistointroduceLinCAN,aV).ThesemorecomplexnodesusuallyinvolvesomekindofCANdriversystemforLinux,developedattheDepartmentofOperatingSystem,oftenbeingbasedonLinux.ControlEn
3、gineeringoftheCzechTechnicalUniversityinPrague,ThereareseveralCANdriversavailableforLinux,butoneandtoprovideathoroughcomparisonwithSocketCAN,whichisofthemclearlystandsout,settingastandard-theSocketCANthemostcommonCANsolutionforLinuxnowadays.Thoroughtiminganalysisandperforma
4、ncecomparisonwithSocketCAN[1],primarilydevelopedbyVolkswagenResearch.Thisdriverarepresented,withseveralcase-studiesandapplicationsofisalreadyincludedintheLinuxkernelmainline,makingitLinCANshownintheend.theobviouschoiceamongdevelopers.SocketCANsupportsLinCANhasbeendevelopeds
5、ince2003andsupportsmanyavarietyofmostcommonCANcontrollersfromdifferentCANcontrollersfromvariousmanufacturers.Itisdesignedwithmanufacturers,makingitsuitableforalargepoolofhardwareemphasisonstrictreal-timepropertiesandreliability,makingitideallysuitablefornetworkedcontrolsyst
6、ems(asisalsoplatforms.demonstratedinthecase-studies).LinCANisalsoportabletoSocketCANisbuiltaroundstandardLinuxnetworkingotherOperatingSystemsandcanbeusedevensystem-lessinfrastructure,whichisthemainfactordeterminingitsinherent(withoutanyOS)onless-powerfulmicrocontrollers.ass
7、etsandshortcomings.ThemainassetofthisapproachisAtiminganalysisandperformancetestsofbothdriverswerethatSocketCANissimpletouse,makingtheCANcommu-performedusingvarioustypesofloadwithseveralrecentLinuxnicationnodifferenttonormalTCP/IPcommunicationfromkernels.Obtainedresultsindi
8、catethatLinCANseemsbettersuitedforhardreal-timeapplications,itsperformancebeingthe
