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The Controller Area Network (CAN) protocol [Bosch, 1991] was originally developed for in-car use. Industrial control systems and embedded networks became additional application fields [Lawrenz, 1995]. Impressive sales figures demonstrate the industrial relevance of CAN with more than 200 millions of CAN controllers sold in 2001. CAN represents an event-triggered communication protocol, i.e. the temporal control signals are derived primarily fromnon-time events. Among its advantages are flexibility and the ability to achieve a high average performance through the statistical multiplexing of bandwidth between components participating in the communication. However, CAN lacks essential properties for systems that have substantial timeliness and dependability requirements. The CAN protocol [Bosch, 1991] does not support fault-tolerance by network redundancy and multiple bit-flips can result in inconsistent message disseminations [Kaiser and Livani, 1999] (i.e. no atomic broadcast mechanism). Furthermore, the mechanisms for achieving a faulty node’s self-deactivation may cause substantial periods of inaccessibility (2.5 ms at 1 Mbps [Verissimo et al., 1997]).

The Controller Area Network (CAN) protocol [Bosch, 1991] was originally developed for in-car use. Industrial control systems and embedded networks became additional application fields [Lawrenz, 1995]. Impressive sales figures demonstrate the industrial relevance of CAN with more than 200 millions of CAN controllers sold in 2001. CAN represents an event-triggered communication protocol, i.e. the temporal control signals are derived primarily fromnon-time events. Among its advantages are flexibility and the ability to achieve a high average performance through the statistical multiplexing of bandwidth between components participating in the communication. However, CAN lacks essential properties for systems that have substantial timeliness and dependability requirements. The CAN protocol [Bosch, 1991] does not support fault-tolerance by network redundancy and multiple bit-flips can result in inconsistent message disseminations [Kaiser and Livani, 1999] (i.e. no atomic broadcast mechanism). Furthermore, the mechanisms for achieving a faulty node’s self-deactivation may cause substantial periods of inaccessibility (2.5 ms at 1 Mbps [Verissimo et al., 1997]).