Minimizing CAN Response-Time Jitter by Message Manipulation

Authors:
Thomas Nolte;Hans Hansson;Christer Norström
Affiliations:
-;-;-
Venue:
RTAS '02 Proceedings of the Eighth IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS'02)
Year:
2002

Citing 0
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Abstract

Delay variations (jitter) in computations and communications cause degradation of performance in e.g. control applications. There are many sources of jitter, including variations in execution time and bus contention.This paper presents methods to reduce the variation of frame (message) transmission time caused by the bit-stuffing mechanism in the Controller Area Network (CAN). By introducing some restrictions, such as a small reduction of available frame priorities, we are able to reduce the number of stuff-bits in the worst case. We also combine this with some of our previous work that reduces the number of stuff-bits in the data part of the frame. We show the actualpenalty introduced by forbidding priorities, and we show the overall improvement by using these techniques together in a small case study.