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
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DOI：
10.1007/s11241-012-9167-8
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发表时间：
2012-11
影响因子：
1.3
通讯作者：
Robert I. Davis;S. Kollmann;Victor Pollex;F. Slomka
中科院分区：
文献类型：
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作者：
Robert I. Davis;S. Kollmann;Victor Pollex;F. Slomka
控制器局域网（CAN）在汽车应用中得到了广泛的应用。现有的CAN总线的可扩展性分析是基于这样的假设，即在网络上的每个节点处准备好传输的最高优先级消息将进入总线上的仲裁。然而，在实践中，一些CAN设备驱动程序实现FIFO而不是基于优先级的队列，从而使该假设无效。在本文中，我们介绍了响应时间分析和最优优先级分配策略的CAN消息在网络中，一些节点使用FIFO队列，而其他节点使用优先级队列。我们显示，通过案例研究和实验评估，FIFO队列对CAN的实时性能的不利影响。此外，我们表明，在网关应用程序中，如果它是不可能实现的优先级队列，那么它是最好使用多个FIFO队列，每个分配一个小数目的消息具有类似的传输期限。
Controller Area Network (CAN) is widely used in automotive applications. Existing schedulability analysis for CAN is based on the assumption that the highest priority message ready for transmission at each node on the network will be entered into arbitration on the bus. However, in practice, some CAN device drivers implement FIFO rather than priority-based queues invalidating this assumption. In this paper, we introduce response time analysis and optimal priority assignment policies for CAN messages in networks where some nodes use FIFO queues while other nodes use priority queues. We show, via a case study and experimental evaluation, the detrimental impact that FIFO queues have on the real-time performance of CAN. Further, we show that in gateway applications, if it is not possible to implement a priority queue, then it is preferable to use multiple FIFO queues each allocated a small number of messages with similar transmission deadlines.