Controller Area Network Discrete-Event System Specification For Independent Node Testing

We introduce a generic method based on the Discrete Event System Specification (DEVS) formalism to model and simulate a Controller Area Network (CAN) port connected to a network with other nodes. The models are tested in software and then implemented in hardware. We show a streamlined development process to model, simulate, and test the use of the CAN network for any general application using the Cadmium simulation environment for software simulations and executing the models on hardware using Real-Time (RT-) DEVS. With this method, different scenarios can be tested in the modeling and simulation phase before the models are ported onto embedded hardware.