Understanding and Using the Controller Area Network Communication Protocol

Natale, Marco Di; Zeng, Haibo; Giusto, Paolo; Ghosal, Arkadeb

doi:10.1007/978-1-4614-0314-2

Cited by 121 publications

(82 citation statements)

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“…As noted by Di Natale (2008), there are a number of potential issues that can lead to behaviour that does not match that required by the scheduling model given by Davis et al (2007). For example, if a CAN node has fewer transmit message buffers than the number of messages that it transmits, then the following properties of the CAN controller hardware can prove problematic: (i) internal message arbitration based on transmit buffer number rather than message ID (Fujitsu MB90385/90387, Fujitsu 90390, Intel 87C196 (82527), Infineon XC161CJ/167 (82C900)); (ii) non-abortable message transmission: Philips 82C200, (Di Natale, 2006);(iii) less than 3 transmit buffers: Philips 8xC592 (SJA1000), Philips 82C200, (Meschi et al, 1996).…”

Section: Motivationmentioning

confidence: 76%

“…Di Natale (2008) noted that using FIFO queues in CAN device drivers / software protocol layers can seem an attractive solution, "because of its simplicity and the illusion that faster queue management improves the performance of the system". This is unfortunate, because FIFO message queues undermine the priority-based bus arbitration used by CAN.…”

Section: Motivationmentioning

confidence: 99%

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Schedulability analysis for Controller Area Network (CAN) with FIFO queues priority queues and gateways

et al. 2012

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Controller Area Network (CAN) • Section 4.6 has been added, providing formal proofs that the schedulability tests given in Sections 4.1, 4.2 and 4.3 are sufficient (Theorems 2 and 3) and selfsustainable (Theorems 4 and 5). This section also shows how more precise analysis can be achieved when the priorities of messages in a FIFO queue span those of messages in a priority queue or another FIFO queue, which is often the case in practice. Extended version• In Section 5.2, we have added a formal proof that transmission deadline monotonic priority ordering is optimal when all messages have the same maximum transmission time (Theorem 7).• In Section 7, we have extended the experimental evaluation to show how the performance degradation due to FIFO queues depends on the number of messages in each queue.• Sections 6.1 and 7.1 have been added, exploring the effects of implementing one or more FIFO queues in gateway nodes that are responsible for transferring messages from one network to another.

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Section: Motivationmentioning

confidence: 76%

Section: Motivationmentioning

confidence: 99%

Schedulability analysis for Controller Area Network (CAN) with FIFO queues priority queues and gateways

et al. 2012

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“…Non-preemptive means that a message being transmitted can not be preempted by higher priority messages that are made available after the transmission has In addition, we observe that sensor data are periodically sampled in control systems . Hence, in most implementations of CAN, there is a software task in the middleware layer, called TxTask, which is periodically activated and responsible for packing messages from signal data and queuing them for transmission [11]. This is supported by the automotive AU-TOSAR/OSEK standard and implemented by the commercial tools from Vector [3].…”

Section: Chapter 4 Online Delay Prediction On Canmentioning

confidence: 99%

“…However, the current current approaches have significant drawbacks. They either perform joint offline design on timing and control, hence inapplicable for online employment [7,11]; or rely on precise knowledge on the timing information of software tasks in the remote sender node, which is ill-suited for CAN where nodes are unsynchronized [19].…”

Section: Introductionmentioning

confidence: 99%

Online message delay prediction for model predictive control over controller area network

Rao

Zeng

2017

2017 IEEE/ACM International Conference on Computer-Aided Design (ICCAD)

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Today's Cyber-Physical Systems (CPS) are typically distributed over several computing nodes communicating by way of shared buses such as Controller Area Network (CAN). Their control performance gets degraded due to variable delays (jitters) incurred by messages on the shared CAN bus due to contention and network overhead. This work presents a novel online delay prediction approach that predicts the message delay at runtime based on real-time traffic information on CAN. It leverages the proposed method to improve control quality, by compensating for the message delay using the Model Predictive Control (MPC) algorithm in designing the controller. By simulating an automotive Cruise Control system and a DC Motor plant in a CAN environment, it goes on to demonstrate that the delay prediction is accurate, and that the MPC design which takes the message delay into consideration, performs considerably better. It also implements the proposed method on an 8-bit 16MHz work goes on to demonstrate that the delay prediction is accurate, and that the MPC design which takes the message delay into consideration, performs considerably better. It also implements the proposed approach on a low end microcontroller (8bit, 16MHz ATmega328P) and measures the time taken for predicting the delay for each message (execution overhead).The obtained results clearly indicate that the method is computationally feasible for use in a real-time scenario.To my parents, my sister, and my grandparents for the unconditional love and support.iv I would like to extend my special thanks to Dr. Anton Cervin (Lund University) for clarifying queries about TrueTime and Dr. Liuping Wang (RMIT University) for the discussions on MPC which proved invaluable in my research.

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“…Controller Area Network (CAN) is a multi-master serial data bus [3] with real-time capabilities [10,11]. CAN is a broadcast bus, thus each message that is transmitted on the network can be received by every node connected to it.…”

Section: Introductionmentioning

confidence: 99%

Analysis and optimization of message acceptance filter configurations for controller area network (CAN)

Pölzlbauer

Davis

Bate

2017

Proceedings of the 25th International Conference on Real-Time Networks and Systems

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Many of the processors used in automotive Electronic Control Units (ECUs) are resource constrained due to the cost pressures of volume production; they have relatively low clock speeds and limited memory. Controller Area Network (CAN) is used to connect the various ECUs; however, the broadcast nature of CAN means that every message transmitted on the network can potentially cause additional processing load on the receiving nodes, whether the message is relevant to that ECU or not. Hardware ilters can reduce or even eliminate this unnecessary load by iltering out messages that are not needed by the ECU. Filtering is done on the message IDs which are primarily used to identify the contents of the message and its priority. In this paper, we consider the problem of selecting ilter conigurations to minimize the load due to undesired messages. We show that the general problem is NP-complete. We therefore propose and evaluate an approach based on Simulated Annealing. We show that this approach inds near-optimal ilter conigurations for the interesting case where there are more desired messages than available ilters.

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Understanding and Using the Controller Area Network Communication Protocol

Cited by 121 publications

References 0 publications

Schedulability analysis for Controller Area Network (CAN) with FIFO queues priority queues and gateways

Schedulability analysis for Controller Area Network (CAN) with FIFO queues priority queues and gateways

Online message delay prediction for model predictive control over controller area network

Analysis and optimization of message acceptance filter configurations for controller area network (CAN)

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