EMERALDS: a small-memory real-time microkernel
Proceedings of the seventeenth ACM symposium on Operating systems principles
Design and Implementation of Efficient Message Scheduling for Controller Area Network
IEEE Transactions on Computers
Scheduling Messages with Earliest Deadline Techniques
Real-Time Systems
EMERALDS: A Small-Memory Real-Time Microkernel
IEEE Transactions on Software Engineering
Real-Time Systems - Flexible Scheduling on Real-Time Systems
Priority and Collision Detection with Active Signaling - The Channel Access Mechanism of HIPERLAN
Wireless Personal Communications: An International Journal
Timing Constraint Remapping to Achieve Time Equi-Continuity in Distributed Real-Time Systems
IEEE Transactions on Computers
Achieving Fault-Tolerant Ordered Broadcasts in CAN
EDCC-3 Proceedings of the Third European Dependable Computing Conference on Dependable Computing
LCTES '00 Proceedings of the ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Embedded Systems
A causal message ordering scheme for distributed embedded real-time systems
SRDS '96 Proceedings of the 15th Symposium on Reliable Distributed Systems
Microprocessors & Microsystems
Minimal Resource Allocation on CAN Bus Using Radial Basis Function Networks
ISNN '07 Proceedings of the 4th international symposium on Neural Networks: Advances in Neural Networks, Part III
Journal of Systems Architecture: the EUROMICRO Journal
Scheduling the CAN bus with earliest deadline techniques
RTSS'10 Proceedings of the 21st IEEE conference on Real-time systems symposium
Self-organized message scheduling for asynchronous distributed embedded systems
ATC'11 Proceedings of the 8th international conference on Autonomic and trusted computing
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Scheduling messages on the controller area network (CAN) corresponds to assigning identifiers (IDs) to messages according to their priorities. If fixed priority scheduling such as deadline monotonic (DM) is used to calculate these priorities, then in general, it will result in low schedulability. Dynamic scheduling schemes such as earliest deadline (ED) can give greater schedulability, but they are not practical for CAN because if the ID is to reflect message deadlines then a long ID must be used. This increases the length of each message to the point that ED is no better than DM. Our solution to this problem is the mixed traffic scheduler (MTS), which is a cross between ED and DM, and provides high schedulability without needing long IDs. Through simulations, we compare the performance of MTS with that of DM and ED* (an imaginary scheduler which works like ED, except it needs only short IDs). We use a realistic workload in our simulations based on messages typically found in computer integrated manufacturing. Our simulations show that MTS performs much better than DM and at the same level as ED*, except under high loads and tight deadlines, when ED* is superior.