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As early as the 1950s electronic elements started to appear in passenger vehicles. Over the years the electronic content and complexity continued to grow in vehicles. In 1983, it was formally stated at Robert Bosch AG that a real-time communication link was required between three electronic control units: engine control, automatic transmission control and the anti-skid braking system.
Despite the existence of a number of proprietary automotive multiplexing protocols, a new serial communications protocol emerged from Bosch's endeavor, the Controller Area Network (CAN). In mid 1987 the first working silicon for CAN became available. In 1993 CAN was standardized by the International Standardization Organization (ISO).
In time-triggered CAN the exchange of messages is controlled essentially by the temporal progression of time. The exchange of a specific message may only occur at a predefined point 'in relative' time during time-triggered operation of the protocol. This 'benchmark' in time, to which all other communication transactions are related, is defined by the start of frame (SOF) bit of a specific message known as the reference message.
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