An extendible approach for analyzing fixed priority hard real-time tasks
Real-Time Systems
Preemptive priority-based scheduling: an appropriate engineering approach
Advances in real-time systems
Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment
Journal of the ACM (JACM)
Fault-Tolerant Broadcasts in CAN
FTCS '98 Proceedings of the The Twenty-Eighth Annual International Symposium on Fault-Tolerant Computing
Response Time Analysis under Errors for CAN
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)
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
Scheduling Fixed-Priority Tasks with Preemption Threshold
RTCSA '99 Proceedings of the Sixth International Conference on Real-Time Computing Systems and Applications
Scheduling Tasks with Mixed Preemption Relations for Robustness to Timing Faults
RTSS '02 Proceedings of the 23rd IEEE Real-Time Systems 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
A simulation methodology for worst-case response time estimation of distributed real-time systems
Proceedings of the conference on Design, automation and test in Europe
Design and Development of Component-Based Embedded Systems for Automotive Applications
Ada-Europe '08 Proceedings of the 13th Ada-Europe international conference on Reliable Software Technologies
Dealing with network complexity in real-time networked control
International Journal of Computer Mathematics - COMPLEX NETWORKS
Stochastic and deterministic performance evaluation of automotive CAN communication
Computer Networks: The International Journal of Computer and Telecommunications Networking
Non-preemptible last section assignment for reducing feedback latency in real-time control systems
International Journal of Systems Science
Robust priority assignment for messages on Controller Area Network (CAN)
Real-Time Systems
Case study on distributed and fault tolerant system modeling based on timed automata
Journal of Systems and Software
Schedulability analysis for CAN-based networked control systems with dynamic bandwidth management
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Aperiodic traffic in response time analyses with adjustable safety
ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation
Robustness analysis for the certification of digital controller implementations
Proceedings of the 1st ACM/IEEE International Conference on Cyber-Physical Systems
Integrated end-to-end timing analysis of networked AUTOSAR-compliant systems
Proceedings of the Conference on Design, Automation and Test in Europe
EMSOFT '10 Proceedings of the tenth ACM international conference on Embedded software
ISoLA'10 Proceedings of the 4th international conference on Leveraging applications of formal methods, verification, and validation - Volume Part I
Evaluating a new communication protocol for real-time distributed control
Robotics and Computer-Integrated Manufacturing
INtERCEDE: An algorithmic approach to networked control system design
Journal of Network and Computer Applications
Electronic Notes in Theoretical Computer Science (ENTCS)
ACM SIGBED Review - Work-in-Progress (WiP) Session of the 23rd Euromicro Conference on Real-Time Systems (ECRTS 2011)
Feasibility analysis for robustness quantification by symbolic model checking
Formal Methods in System Design
Using standards to integrate soft real-time components into dynamic distributed architectures
Computer Standards & Interfaces
Verifying worst case delays in controller area network
MMB'12/DFT'12 Proceedings of the 16th international GI/ITG conference on Measurement, Modelling, and Evaluation of Computing Systems and Dependability and Fault Tolerance
Optimization of task allocation and priority assignment in hard real-time distributed systems
ACM Transactions on Embedded Computing Systems (TECS)
Efficient constraint handling during designing reliable automotive real-time systems
Ada-Europe'12 Proceedings of the 17th Ada-Europe international conference on Reliable Software Technologies
Distributed self-organizing bandwidth allocation for priority-based bus communication
Concurrency and Computation: Practice & Experience
Brief announcement: KARYON: towards safety kernels for cooperative vehicular systems
SSS'12 Proceedings of the 14th international conference on Stabilization, Safety, and Security of Distributed Systems
HW/SW tradeoffs for dynamic message scheduling in controller area network (CAN)
ARCS'13 Proceedings of the 26th international conference on Architecture of Computing Systems
Self-virtualized CAN controller for multi-core processors in real-time applications
ARCS'13 Proceedings of the 26th international conference on Architecture of Computing Systems
ACM SIGBED Review - Special Issue on the 24th Euromicro Conference on Real-Time Systems
Traffic shaping to reduce jitter in controller area network (CAN)
ACM SIGBED Review - Special Issue on the 24th Euromicro Conference on Real-Time Systems
Proceedings of the 14th ACM SIGPLAN/SIGBED conference on Languages, compilers and tools for embedded systems
Formal analysis of sporadic bursts in real-time systems
Proceedings of the Conference on Design, Automation and Test in Europe
Priority assignment for event-triggered systems using mathematical programming
Proceedings of the Conference on Design, Automation and Test in Europe
Control-quality driven design of cyber-physical systems with robustness guarantees
Proceedings of the Conference on Design, Automation and Test in Europe
Stochastic response-time guarantee for non-preemptive, fixed-priority scheduling under errors
Proceedings of the 50th Annual Design Automation Conference
Using timing analysis for the design of future switched based ethernet automotive networks
DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe
Probabilistic response time bound for CAN messages with arbitrary deadlines
DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe
Timing analysis of cyber-physical applications for hybrid communication protocols
DATE '12 Proceedings of the Conference on Design, Automation and Test in Europe
Best-case response times and jitter analysis of real-time tasks with arbitrary deadlines
Proceedings of the 21st International conference on Real-Time Networks and Systems
Explicit reservation of cache memory in a predictable, preemptive multitasking real-time system
ACM Transactions on Embedded Computing Systems (TECS)
Challenges in developing software for cyber-physical systems
Proceedings of the 5th Asia-Pacific Symposium on Internetware
Improved formal worst-case timing analysis of weighted round robin scheduling for ethernet
Proceedings of the Ninth IEEE/ACM/IFIP International Conference on Hardware/Software Codesign and System Synthesis
Building timing predictable embedded systems
ACM Transactions on Embedded Computing Systems (TECS)
Journal of Systems Architecture: the EUROMICRO Journal
Expert Systems with Applications: An International Journal
Journal of Systems Architecture: the EUROMICRO Journal
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 used extensively in automotive applications, with in excess of 400 million CAN enabled microcontrollers manufactured each year. In 1994 schedulability analysis was developed for CAN, showing how worst-case response times of CAN messages could be calculated and hence guarantees provided that message response times would not exceed their deadlines. This seminal research has been cited in over 200 subsequent papers and transferred to industry in the form of commercial CAN schedulability analysis tools. These tools have been used by a large number of major automotive manufacturers in the design of in-vehicle networks for a wide range of cars, millions of which have been manufactured during the last decade.This paper shows that the original schedulability analysis given for CAN messages is flawed. It may provide guarantees for messages that will in fact miss their deadlines in the worst-case. This paper provides revised analysis resolving the problems with the original approach. Further, it highlights that the priority assignment policy, previously claimed to be optimal for CAN, is not in fact optimal and cites a method of obtaining an optimal priority ordering that is applicable to CAN. The paper discusses the possible impact on commercial CAN systems designed and developed using flawed schedulability analysis and makes recommendations for the revision of CAN schedulability analysis tools.