Stack-based scheduling for realtime processes
Real-Time Systems
Analysis of hard real-time communications
Real-Time Systems
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Fixed Priority Scheduling with Limited Priority Levels
IEEE Transactions on Computers
Non-preemptive scheduling of messages on controller area network for real-time control applications
RTAS '95 Proceedings of the Real-Time Technology and Applications Symposium
Earliest Deadline Message Scheduling with Limited Priority Inversion
WPDRTS '96 Proceedings of the 4th International Workshop on Parallel and Distributed Real-Time Systems
A tool for describing and evaluating hierarchical real-time bus scheduling policies
Proceedings of the 40th annual Design Automation Conference
FIFO networking: punctual event-triggered communication
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Self-organized message scheduling for asynchronous distributed embedded systems
ATC'11 Proceedings of the 8th international conference on Autonomic and trusted computing
Implementation of a network-based distributed system using the CAN protocol
KES'05 Proceedings of the 9th international conference on Knowledge-Based Intelligent Information and Engineering Systems - Volume Part I
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Controller Area Network (CAN) is widely used in real-time automobile control and is gaining wider acceptance as a standard for factory automation. This paper discusses the applicability of Earliest Deadline (EDF) techniques to the scheduling of CAN messages. Earliest deadline can guarantee higher network utilization than fixed-priority schemes like Deadline or Rate Monotonic (DM, RM), but it is difficult to implement in local area networks or local buses. The reason is the need for updating the deadlines (priorities) at each scheduling round and the limited numer of priority levels offered by the arbitration protocol. This deadline encoding problem results in an additional priority inversion factor when considering the schedulability analysis of hard real-time messages. This paper describes an effective deadline encoding method and discusses its implementation and its effects on the guarantee analysis. In spite of a limited processor overhead (less than 5% of CPU time) the proposed EDF implementation allows a increase (up to 20%) in the feasible network workload. This trade off will be made more convenient as controller technology evolves.