基于控制器局域网的分布式同步时钟的实现

由于没有一个全局的系统时钟，很难实现精度达微秒级的实时时钟。在分布式系统中，一种解决方法是将网络中所有节点的本地时钟以足够的精度进行控制同步。而控制器局域网以其严格的时间确定性为我们提供了一个简单实用，不需额外硬件的方法来实现时钟同步。文章提出了一种时钟同步协议，并且，在控制器局域网上加以实现。

The lmplementation of Distributed SynchronizedClock Based on Controller Area Network

in a distributed system, it is difficult to realize a real-time clock with accuracy in order of micix)sec-onds as there is no global system tick. One solution is to synchronize the local clocks of all nodes with suffi-cient accuracy. The tight timing guaranties of Controller Area Network(CAN)) 6ffer a simple and practicable possi-bility to provide such a global clock without additional hardware. We propose a propose and implement it onCAN using only a small amount of bandwidth (< 20 messages /second)