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Schedulability Analysis of CAN with Non-abortable Transmission Requests

Dawood Khan 1 Robert Davis 2 Nicolas Navet 1
1 TRIO - Real time and interoperability
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
2 Department of Computer Science
CS-YORK - Department of Computer Science [York]
Abstract : The analysis of the real-time properties of an embedded communication system relies on finding upper bounds on the Worst-Case Response Time (WCRT) of the messages that are exchanged among the nodes on the network. The classical WCRT analysis of Controller Area Network (CAN) implicitly assumes that at any given time, each node is able to enter its highest priority ready message into arbitration. However, in reality, CAN controllers may have some characteristics, such as non-abortable transmit buffers, which may break this assumption. This paper provides analysis for networks that contain nodes with non-abortable transmit buffers, as well as nodes that meet the requirements of the classical analysis. The impact on message WCRTs due to a limited number of transmission buffers with non-abortable behaviour is examined via two case-studies.
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Submitted on : Thursday, November 24, 2011 - 9:21:27 AM
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Dawood Khan, Robert Davis, Nicolas Navet. Schedulability Analysis of CAN with Non-abortable Transmission Requests. 16th IEEE ETFA 2011, Sep 2011, Toulouse, France. ⟨hal-00644298⟩

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