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Ninth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'03)
Probabilistic Worst-Case Response-Time Analysis for the Controller Area Network
Toronto, Canada
May 27-May 30
ISBN: 0-7695-1956-3
Thomas Nolte, M?lardalen University
Hans Hansson, M?lardalen University
Christer Norstr?, M?lardalen University
This paper presents a novel approach for calculating a probabilistic worst-case response-time for messages in the Controller Area Network (CAN). CAN uses a bit-stuffing mechanism to exclude forbidden bit-patterns within a message frame. The added bits eliminate the forbidden patterns but cause an increase in frame length. How much the length is increased depends on the bit-pattern of the original message frame.
Traditional response-time analysis methods assume that all frames have a worst-case number of stuff-bits. This introduces pessimism in the analysis.
In this paper we introduce an analysis approach based on using probability distributions to model the number of stuff-bits. The new analysis additionally opens up for making trade-offs between reliability and timeliness, in the sense that the analysis will provide a certain probability for missing deadlines, which in the reliability analysis can be treated as a probability of failure. We evaluate the performance of our method using a subset of the SAE benchmark.
Citation:
Thomas Nolte, Hans Hansson, Christer Norstr?, "Probabilistic Worst-Case Response-Time Analysis for the Controller Area Network," rtas, pp.200, Ninth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'03), 2003
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