MPS-CAN analyzer: Integrated implementation of response-time analyses for Controller Area Network (original) (raw)
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Proceedings of 2012 IEEE 17th International Conference on Emerging Technologies & Factory Automation (ETFA 2012), 2012
The existing response-time analysis for messages in Controller Area Network (CAN) with controllers implementing non-abortable transmit buffers does not support mixed messages that are implemented by several high-level protocols used in the automotive industry. We present the work in progress on the extension of the existing analysis for mixed messages. The extended analysis will be applicable to any high-level protocol for CAN that uses periodic, sporadic and mixed transmission modes and implements non-abortable transmit buffers in CAN controllers.
Extending Response-Time Analysis for Mixed Messages with Offsets in Controller Area Network
2013
The existing offset-aware response-time analysis of Controller Area Network (CAN) for mixed messages has certain practical limitations. It is based on the assumption that the jitter and deadline of a message are smaller or equal to the transmission period. However, practical systems may contain messages with release jitter greater than the period. Consequently, the deadlines specified for such messages are also greater than their periods. In this paper, we extend the existing response-time analysis for mixed messages in CAN that are scheduled with offsets and have arbitrary jitter and deadlines. Mixed messages are implemented by several higher-level protocols based on CAN that are used in the automotive industry. The extended analysis is applicable to any higher-level protocol for CAN that uses periodic, sporadic and mixed transmission modes.
Response-Time Analysis of Mixed-Type Controller Area Network (CAN) Messages
2011
The existing response-time analysis of Controller Area Network (CAN) can compute the response times of CAN messages that are queued for transmission periodically or sporadically. However, there are a few high level protocols for CAN such as CANopen and Hägglunds Controller Area Network (HCAN) that support the transmission of mixed messages as well. A mixed message can be queued for transmission both periodically and sporadically. Thus, it does not exhibit a periodic activation pattern. The existing analysis of CAN does not support mixed messages. We extend the existing analysis to compute the response times of mixed messages. The extended analysis is generally applicable to any high level protocol for CAN that uses any combination of periodic, event and mixed (periodic/ sporadic) transmission of CAN messages.
Extending offset-based response-time analysis for mixed messages in Controller Area Network
2013 IEEE 18th Conference on Emerging Technologies & Factory Automation (ETFA), 2013
The existing offset-based response-time analysis for mixed messages in Controller Area Network (CAN) assumes the jitter and deadline of a message to be smaller or equal to the transmission period. However, practical systems may contain messages whose release jitter and deadlines can be greater than their periods, e.g., in the gateway nodes. We extend the existing response-time analysis for mixed messages in CAN that are scheduled with offsets and have arbitrary jitter and deadlines. Mixed messages are implemented by several higher-level protocols for CAN that are used in the automotive industry. The extended analysis is applicable to any higher-level protocol for CAN that uses periodic, sporadic and mixed transmission modes.
We integrate the Response Time Analysis (RTA) with offsets for mixed messages in Controller Area Network (CAN), where the CAN controllers implement abortable transmit buffers, with the MPS-CAN analyzer. Mixed messages are partly periodic and partly sporadic. They are implemented by several higher-level protocols for CAN that are used in the automotive industry. MPS-CAN analyzer is a free tool that supports several other existing RTA for periodic, sporadic and mixed messages in CAN. We perform extensive evaluation of the newly integrated analysis profile. Using the analyzer, we also perform a detailed comparative evaluation of various RTA for CAN.
Worst-case response-time analysis for mixed messages with offsets in Controller Area Network
Proceedings of 2012 IEEE 17th International Conference on Emerging Technologies & Factory Automation (ETFA 2012), 2012
The existing response-time analysis for Controller Area Network (CAN) does not support mixed messages that are scheduled with offsets. Mixed messages are implemented by several high-level protocols for CAN that are used in the automotive industry. We extend the existing offset-based analysis which is applicable to any high-level protocol for CAN that uses periodic, sporadic and mixed transmission of messages. Moreover, we implement the extended analysis as a standalone simulator that will be integrated as a plug-in with the existing industrial tool suite (Rubus-ICE). The experiments, that we performed, indicate that it is possible to achieve up to 4.48% improvement in schedulability when mixed messages are scheduled with offsets.
ETFA2011, 2011
Existing response-time analysis for Controller Area Network (CAN) messages in networks where some nodes implement FIFO queues while others implement priority queues, assumes that at every node, CAN messages are queued for transmission periodically or sporadically. However, there are a few high level protocols for CAN such as CANopen and Hägglunds Controller Area Network (HCAN) that support the transmission of mixed messages as well. A mixed message can be queued for transmission both periodically and sporadically. The existing analysis of CAN with FIFO queues does not support the analysis of mixed messages. We extend the existing response-time analysis of mixed-type CAN messages. The extended analysis can compute the response-times of mixed (periodic/ sporadic) messages in the CAN network where some nodes use FIFO queues while others use priority queues.
Controller Area Network (CAN): Response time analysis with offsets
IEEE International Workshop on Factory Communication Systems - Proceedings, WFCS, 2012
Desynchronizing streams of frames through the means of offsets has today become common practice in automotive CAN networks. This is because this traffic shaping strategy is very beneficial in terms of reducing response times especially at high load levels. However, to the best of our knowledge, there is no result available in the literature that allows the response times of frames with offsets to be calculated for CAN. In this paper, we address this shortcoming of existing CAN schedulability analysis, and propose an extendible framework built upon the transaction model to derive worst-case response times (WCRT) on CAN. As will be shown in the experiments performed on realistic automotive networks, explicitly integrating offsets in the analysis permits a much tighter WCRT evaluation than with the classical synchronous analysis, which ultimately enables the designer to reduce resource overprovisioning.
The Controller Area Network (CAN) is a widely used real-time network in automotive domain. We identify that the existing response-time analysis for messages in CAN with some of the connected nodes implementing priority queues while others implementing FIFO queues does not support the analysis of mixed messages. The existing analysis assumes that a message is queued for transmission either periodically or sporadically. However, a message can also be queued both periodically and sporadically using a mixed transmission mode implemented by several high-level protocols for CAN used in the industry today. We extend the existing analysis which is generally applicable to any high-level protocol for CAN (with priorityand FIFO-queued nodes) that uses periodic, sporadic, and mixed transmission of messages.
Message response time analysis for ideal controller area network (CAN) refuted
2006
This paper revisits basic message response time analysis of controller area network (CAN). We show that existing message response time analysis, as presented in , is optimistic. Assuming discrete scheduling, the problem can be resolved by applying worst-case response time analysis for fixed-priority non-preemptive scheduling (FPNS) as described in [4].