Selected sections of this report will be published in the Proceedings of the Proceedings of the 19th IEEE Real-Time Systems Symposium, Madrid, Spain, December 2-4, pp.420-429, 1998.
Designing protocols for CAN is justified by the increasing use of this network in industrial automation applications. CAN owns a number of unique properties that can be used to improve the precision and performance of a clock synchronization algorithm. Unfortunately, some of its features also make the implementation of a fault-tolerant clock synchronization service a non-trivial task. Our algorithm addresses both the positive and the negative aspects of CAN.
Also available extended report (gzip postscript), (pdf) .