Adapting FTT-CAN for the joint dispatching of tasks and messages

In the context of centralized holistic scheduling of tasks and messages, dispatching can he an issue. This paper presents an architecture with a centralized dispatcher that can be easily integrated in any distributed control system without introducing significant overhead. A central node dispatches both tasks and messages to other nodes that are only required to possess a nano-kernel. Furthermore the interdependences between producer/consumer tasks and messages are studied, resulting in a set of constraints that guarantee system feasibility. It is also shown that this solution is easily implemented using a protocol for message dispatching such as FTT-CAN (flexible time-triggered communication on CAN).