Adaptive Fault Diagnosis Algorithm for Controller Area Network

A controller area network (CAN)-based distributed system may develop faults at run-time. These faults need to be detected and diagnosed. This paper proposes a new algorithm named adaptive fault diagnosis algorithm for CAN (AFDCAN). It is designed for low-cost resource-constrained distributed embedded systems. The proposed algorithm detects all faulty nodes on the CAN. It allows new node entry and reentry of repaired faulty nodes during a diagnostic cycle. AFDCAN is found to provide high fault tolerance and to ensure reliable communication. It uses single-channel communication deploying the bus-based standard CAN protocol. A hardware implementation of the proposed algorithm has been used to obtain the results. The results show that the proposed algorithm diagnoses all faults in the system. Analysis of the proposed algorithm proves that the algorithm uses a definite and bounded number of testing rounds and messages to complete one diagnostic cycle.