Controller Area Network (CAN) schedulability analysis: Refuted, revisited and revised

Davis, Robert I.; Burns, Alan; Bril, Reinder J.; Lukkien, Johan J.

doi:10.1007/s11241-007-9012-7

Cited by 624 publications

(526 citation statements)

References 19 publications

(56 reference statements)

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“…Note that in Ethernet AVB the resource is busy either when there is an ongoing transmission on the link or when the queue is not empty, but the transmission is prevented due to a negative credit. The reason behind the need for considering multiple instances is the non-preemptive nature of the transmission, which is thoroughly discussed in the Controller Area Network (CAN) response time analysis (Davis et al 2007). Under high network utilization, a message may delay subsequent transmission of the higher priority messages.…”

Section: Response Time Of Messages Belonging To Class Bmentioning

confidence: 99%

Schedulability analysis of Ethernet Audio Video Bridging networks with scheduled traffic support

et al. 2017

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The IEEE Audio Video Bridging (AVB) technology is nowadays under consideration in several automation domains, such as, automotive, avionics, and industrial communications. AVB offers several benefits, such as open specifications, the existence of multiple providers of electronic components, and the real-time support, as AVB provides bounded latency to real-time traffic classes. In addition to the above mentioned properties, in the automotive domain, comparing with the existing in-vehicle networks, AVB offers significant advantages in terms of high bandwidth, significant reduction of cabling costs, thickness and weight, while meeting the challenging EMC/EMI requirements. Recently, an improvement of the AVB protocol, called the AVB ST, was proposed in the literature, which allows for supporting scheduled traffic, i.e., a class of time-sensitive traffic that requires time-driven transmission and low latency. In this paper, we present a schedulability analysis for the real-time traffic crossing through the AVB ST network. In addition, we formally prove that, if the bandwidth in the network is allocated according to the AVB standard, the schedulability test based on response time analysis will fail for most cases even if, in reality, these cases are schedulable. In order to provide guarantees based on analysis test a bandwidth over-reservation is required. In this paper, we propose a solution to obtain a minimized bandwidth over-reservation. To the best of our knowledge, this is the first attempt to formally spot the limitation and to propose a solution for overcoming it. The proposed analysis is applied to both the AVB standard and the AVB ST. The analysis results are compared with the results of several simulative assessments, obtained using OMNeT++, on both automotive and industrial case studies. Real-Time Syst (2017) 53:526-577 527 between the results of the analysis and the simulation ones shows the effectiveness of the analysis proposed in this work.

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Section: Response Time Of Messages Belonging To Class Bmentioning

confidence: 99%

Schedulability analysis of Ethernet Audio Video Bridging networks with scheduled traffic support

et al. 2017

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“…CAN buses and gateways typically utilize static-priority scheduling (non-preemptive and preemptive, respectively), which can be analyzed by the busy-period approach (e.g. Lehoczky 1990, Davis et al 2007. Here, the worst-case response time is derived by constructing the worst-case time during which a resource is busy serving requests at a given priority.…”

Section: Related Workmentioning

confidence: 99%

“…from CAN1 to CAN2. For the analysis of the CAN buses, we resort to an analysis approach based on Davis et al (2007). We assume that frames in the Ethernet network are scheduled according to IEEE 802.1Q, i.e.…”

Section: Modeling Automotive Networkmentioning

confidence: 99%

Formal timing analysis of CAN-to-Ethernet gateway strategies in automotive networks

et al. 2015

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Due to increased bandwidth and scalability demands, Ethernet technology is finding its way into recent in-vehicle networks. Tomorrow's heterogeneous networks will feature legacy buses [e.g. controller area network (CAN) or FlexRay] as well as high-speed Ethernet devices, connected by switches and gateways. As Ethernet offers significantly larger frame sizes than CAN, the efficient transmission of CAN data over an Ethernet backbone depends heavily on the way this data is multiplexed into Ethernet frames. This article focuses on the timing impact introduced by various CAN/Ethernet multiplexing strategies at the gateways. We present a formal analysis method to derive upper bounds on end-to-end latencies for complex multiplexing strategies, which is key for the design of safety-critical real-time systems. We capture complex interdomain signal paths spanning multiple buses, gateways, and switches and show the applicability in a realistic automotive setup.

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“…We now provide a sufficient schedulability test for task sets with constrained deadlines (D i ≤ T i ) based on the approach used in section 3.4 of [Davis et al 2007].…”

Section: Sufficient Schedulability Testmentioning

confidence: 99%

Explicit reservation of cache memory in a predictable, preemptive multitasking real-time system

Whitham

Audsley

Davis

2014

ACM Trans. Embed. Comput. Syst.

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We describe and evaluate explicit reservation of cache memory to reduce the cache-related preemption delay (CRPD) observed when tasks share a cache in a preemptive multitasking hard real-time system. We demonstrate the approach using measurements obtained from a hardware prototype, and present schedulability analyses for systems that share a cache by explicit reservation. These analyses form the basis for a series of experiments to further evaluate the approach. We find that explicit reservation is most useful for larger task sets with high utilization. Some task sets cannot be scheduled with a conventional cache, but are schedulable with explicit reservation.

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Controller Area Network (CAN) schedulability analysis: Refuted, revisited and revised

Cited by 624 publications

References 19 publications

Schedulability analysis of Ethernet Audio Video Bridging networks with scheduled traffic support

Schedulability analysis of Ethernet Audio Video Bridging networks with scheduled traffic support

Formal timing analysis of CAN-to-Ethernet gateway strategies in automotive networks

Explicit reservation of cache memory in a predictable, preemptive multitasking real-time system

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