Fieldbus application layer and real-time distributed systems

Resource conscious development of middleware for control environments: a case of CORBA-based middleware for the CAN bus systems

“…15, the worst-case protocol processing latencies are less than 1 ms when the number of parameters are reasonably small, specifically, six. This is typical in most field bus applications of practical interest [22]. More importantly, the pure EIOP processing latency takes up only 34.5% of the entire sender side protocol processing latency, whereas the CAN device driver and the bus adaptor take up 24.6 and 40.9%, respectively.…”