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Design and Implementation of Efficient Message Scheduling for Controller Area Network
February 2000 (vol. 49 no. 2)
pp. 182-188

Abstract—The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. In this paper, we present the mixed traffic scheduler (MTS) for CAN, which provides higher schedulability than fixed-priority schemes like deadline-monotonic (DM) while incurring less overhead than dynamic earliest-deadline (ED) scheduling. We also describe how MTS can be implemented on existing CAN network adapters such as Motorola's TouCAN. In previous work [1], [2], we had shown MTS to be far superior to DM in schedulability performance. In this paper, we present implementation overhead measurements showing that processing needed to support MTS consumes only about 5 to 6 percent of CPU time. Considering its schedulability advantage, this makes MTS ideal for use in control applications.

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Index Terms:
Distributed real-time systems, Controller Area Network (CAN), message scheduling, network scheduling implementation, priority inversion.
Citation:
Khawar M. Zuberi, Kang G. Shin, "Design and Implementation of Efficient Message Scheduling for Controller Area Network," IEEE Transactions on Computers, vol. 49, no. 2, pp. 182-188, Feb. 2000, doi:10.1109/12.833115
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