Abstract
Distributed computer control in complex embedded systems oversees diverse electronic control units connecting hundreds or thousands of analogue and digital sensors and actuators. These systems are also called today sensors networks. The Real-Time CORBA and minimumCORBA specifications are important steps towards defining standard-based middleware which can satisfy real-time requirements in such systems. Consequently, this paper presents an inter-ORB protocol, witch make efficient use of the advantages of Controller Area Network (CAN) and maps the CAN priorities to a band of CORBA priorities. Our definition of this protocol is bound closely to the features of RT-CORBA, the OMG Data Acquisition from Industrial Systems(DAIS) RFP and the CAN bus, well known as a real-time underlying network. We give the criteria of the definition of the priority field and show how prioritization of messages over the physical CAN network can be achieved, when adopting the use of RT-CORBA scheduling service which implements a dynamic scheduling policy.