On priority asignment in fixed priority scheduling
Information Processing Letters
Fault-Tolerant Broadcasts in CAN
FTCS '98 Proceedings of the The Twenty-Eighth Annual International Symposium on Fault-Tolerant Computing
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
Probabilistic Analysis of CAN with Faults
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems Symposium
An Analysable Bus-Guardian for Event-Triggered Communication
RTSS '03 Proceedings of the 24th IEEE International Real-Time Systems Symposium
ISORC '06 Proceedings of the Ninth IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing
Sustainable Scheduling Analysis
RTSS '06 Proceedings of the 27th IEEE International Real-Time Systems Symposium
Optimal (D- J)-monotonic priority assignment
Information Processing Letters
Efficient Exact Schedulability Tests for Fixed Priority Real-Time Systems
IEEE Transactions on Computers
Sustainable Multiprocessor Scheduling of Sporadic Task Systems
ECRTS '09 Proceedings of the 2009 21st Euromicro Conference on Real-Time Systems
Robust priority assignment for messages on Controller Area Network (CAN)
Real-Time Systems
RTSS '09 Proceedings of the 2009 30th IEEE Real-Time Systems Symposium
Controller Area Network (CAN) Schedulability Analysis with FIFO Queues
ECRTS '11 Proceedings of the 2011 23rd Euromicro Conference on Real-Time Systems
A review of fixed priority and EDF scheduling for hard real-time uniprocessor systems
ACM SIGBED Review - Special Issue on the 3rd Embedded Operating System Workshop (EWiLi 2013)
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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.