A Comparison of Linux CAN Drivers and their Applications

The aim of this paper is to introduce LinCAN, a CAN driver system for Linux, developed at the Department of Control Engineering of the Czech Technical University in Prague, and to provide a thorough comparison with SocketCAN, which is the most common CAN solution for Linux nowadays. Thorough timing analysis and performance comparison with Socket CAN are presented, with several case-studies and applications of LinCAN shown in the end. LinCAN has been developed since 2003 and supports many CAN controllers from various manufacturers. It is designed with emphasis on strict real-time properties and reliability, making it ideally suitable for networked control systems (as is also demonstrated in the case-studies). LinCAN is also portable to other Operating Systems and can be used even system-less (without any OS) on less-powerful microcontrollers. A timing analysis and performance tests of both drivers were performed using various types of load with several recent Linux kernels. Obtained res...

• Type: Journal
• Year: 2010
• Where: SIES
• Authors: Michal Sojka, Pavel Pisa, Martin Petera, Ondrej Spinka, Zdenek Hanzálek
• Keywords: Czech Technical University, Embedded Systems, SIES 2010, Thorough Timing Analysis, Timing Analysis