Achieving Real-Time Communication over Ethernet with Adaptive Traffic Smoothing
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)
Schedulability Analysis for Tasks with Static and Dynamic Offsets
RTSS '98 Proceedings of the IEEE Real-Time Systems Symposium
Low-Latency Hard Real-Time Communication over Switched Ethernet
ECRTS '04 Proceedings of the 16th Euromicro Conference on Real-Time Systems
Performance analysis of greedy shapers in real-time systems
Proceedings of the conference on Design, automation and test in Europe: Proceedings
RTAS '07 Proceedings of the 13th IEEE Real Time and Embedded Technology and Applications Symposium
Response Time Upper Bounds for Fixed Priority Real-Time Systems
RTSS '08 Proceedings of the 2008 Real-Time Systems Symposium
Multi-level hierarchical scheduling in ethernet switches
EMSOFT '11 Proceedings of the ninth ACM international conference on Embedded software
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When a message is transferred from one CAN bus to another via a gateway, variability in the response time of the message on the source network typically translates into queuing jitter on the destination network. This jitter inheritance accumulates across each gateway and can significantly impact the schedulability of lower priority messages. In this paper, we show that the real-time performance of the network can be enhanced by a simple method of traffic shaping that eliminates this inherited queuing jitter. This method does not require access to global time, nor does it require precise time-stamping of when messages are received at the gateway or blocking read calls. It can also be extended to account for clock drifts between networks.