embedded - Can a CAN message have two reliable recipients? -

embedded - Can a CAN message have two reliable recipients? -

in situation multiple modules study state on can bus central processor, replies , drives them. there's supervising processor, listens in on can bus , analyzes incoming messages modules critically unsafe situations (two different modules reporting activating outputs absolutely forbidden beingness activated simultaneously).

this works okay long can bus noise-free.

can bus guarantees recipient receive message; message resent if no recipient confirms receiving it. problem begins if there's more 1 recipient , of them absolutely must receive message. if line clean, both receive it, confirm it, , okay. if message badly damaged, neither receive it, , resent. that's okay. if noise on line "just on brink", 1 of them receive it, , confirm, , other fail receive (noise on end of bus minimally worse), , since sender got confirmation, message won't resent.

is there reliable way assure 2 different recipients of message both receive it? ...other sending 2 messages 2 addresses, specifically? (it's essential supervising cpu hears same messages main cpu, not similar)

obviously not. fails in simple case, 1 receiver shutdown. there no possibility master observe (for single packet).

you need advanced can, more acknowledge slots, each recipients 1 slot.

but request each reciepient has confirm message unique response message. master can observe timeout not reciepent received message.

embedded can