Probabilistic Worst-Case Response-Time Analysis for the Controller Area Network

Authors:
Thomas Nolte;Hans Hansson;Christer Norström
Affiliations:
-;-;-
Venue:
RTAS '03 Proceedings of the The 9th IEEE Real-Time and Embedded Technology and Applications Symposium
Year:
2003

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Abstract

This paper presents a novel approach for calculating aprobabilistic worst-case response-time for messages in theController Area Network (CAN). CAN uses a bit-stuffingmechanism to exclude forbidden bit-patterns within a messageframe. The added bits eliminate the forbidden patternsbut cause an increase in frame length. How much the lengthis increased depends on the bit-pattern of the original messageframe.Traditional response-time analysis methods assume thatall frames have a worst-case number of stuff-bits. This introducespessimism in the analysis.In this paper we introduce an analysis approach basedon using probability distributions to model the number ofstuff-bits. The new analysis additionally opens up for makingtrade-offs between reliability and timeliness, in thesense that the analysis will provide a certain probability formissing deadlines, which in the reliability analysis can betreated as a probability of failure. We evaluate the performanceof our method using a subset of the SAE benchmark.