Stack-based scheduling for realtime processes
Real-Time Systems
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Journal of Systems Architecture: the EUROMICRO Journal
On priority asignment in fixed priority scheduling
Information Processing Letters
Priority Inheritance Protocols: An Approach to Real-Time Synchronization
IEEE Transactions on Computers
Engineering and Analysis of Fixed Priority Schedulers
IEEE Transactions on Software Engineering
Sensitivity Analysis of Real-Time Task Sets
ASIAN '97 Proceedings of the Third Asian Computing Science Conference on Advances in Computing Science
Fault-Tolerant Broadcasts in CAN
FTCS '98 Proceedings of the The Twenty-Eighth Annual International Symposium on Fault-Tolerant Computing
Response Time Analysis under Errors for CAN
RTAS '00 Proceedings of the Sixth IEEE Real Time Technology and Applications Symposium (RTAS 2000)
Minimizing CAN Response-Time Jitter by Message Manipulation
RTAS '02 Proceedings of the Eighth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'02)
Probabilistic Worst-Case Response-Time Analysis for the Controller Area Network
RTAS '03 Proceedings of the The 9th IEEE Real-Time and Embedded Technology and Applications Symposium
Scheduling Tasks with Mixed Preemption Relations for Robustness to Timing Faults
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Probabilistic Analysis of CAN with Faults
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
Optimal priority assignment in the presence of blocking
Information Processing Letters
Optimal (D- J)-monotonic priority assignment
Information Processing Letters
Robust Priority Assignment for Fixed Priority Real-Time Systems
RTSS '07 Proceedings of the 28th IEEE International Real-Time Systems Symposium
Scheduling of time critical processes
AFIPS '72 (Spring) Proceedings of the May 16-18, 1972, spring joint computer conference
Performance Evaluation of Wireless Controller Area Network (WCAN) Using Token Frame Scheme
Wireless Personal Communications: An International Journal
Hi-index | 0.00 |
This paper addresses the problem of determining the most robust priority assignment for CAN messages that are subject to transmission errors due to Electromagnetic Interference. In the presence of errors on the bus, CAN messages have a non-zero probability of missing their deadlines. An appropriate choice of priority ordering can minimise the overall worst-case deadline failure probability resulting in a more robust system. This paper shows that "deadline minus jitter" monotonic priority assignment, commonly used for priority assignment in commercial CAN systems, does not always result in the most robust priority ordering. A Robust Priority Assignment algorithm is presented that computes the most robust priority ordering for CAN messages subject to bit errors on the bus. This algorithm is optimal in the sense that it can be used to (i) maximise the number of errors tolerated, (ii) maximise the delay tolerated by any message, or (iii) minimise the probability of any message failing to meet its deadline. This algorithm is efficient and appropriate for use in an engineering context.