Master replication and bus error detection in FTT-CAN with multiple buses

The flexible time-triggered on CAN is a protocol to support synchronous and asynchronous traffic over a CAN fieldbus. The use of redundant buses is a recent evolution to the main idea of FTT. Despite the reference FTT-CAN architecture support to master replication, the current FTT implementation does not support replicated masters together with bus media redundancy. This paper presents an evolution of the FTT-CAN master replication scheme targeted to a multi bus network and a mechanisms, located at the masters, to detect permanent bus errors.