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Implementing Off-line Message Scheduling on Controller Area Network (CAN)

Authors:

Radu Dobrin, Gerhard Fohler

Publication Type:

Conference/Workshop Paper

Venue:

In 8th IEEE Int. Conf. on Emerging Technologies & Factory Automation

Abstract

Controller Area Network (CAN) is widely used in a number of industrial applications. The message scheduling on CAN is based on identifiers (ID) assigned to the messages according to their priorities.Fixed priority scheduling (FPS) has been widely studied and used in a number of applications, mostly due to its simple run-time scheduling, and small overhead. FPS provide flexibility, but is limited with respect to predictability, as actual times of executions depend on run-time events. On the other hand, a number of industrial applications demand temporal properties that are typically achieved by using off-line scheduling. The rigid off-line scheduling schemes used, however, do not provide flexibility.In this paper we present a method that shows how off-line scheduling and FPS scheduling can be combined to get advantage of both, when scheduling messages on CAN. The paper assumes that a schedule, for a set of tasks transmitting messages on CAN, has been constructed off-line. It presents a method to analyze the off-line schedule and derives a set of periodic messages with fixed priorities. It does so by analyzing the off-line schedule and deriving inequality relations for the priorities of the messages under FPS. In case the priority relations for the messages are not solvable, we have to split the message into a number of artifact messages equal to the number of invocations of the message, to obtain a new set of messages with consistent priorities. We use integer linear programming minimize the final number messages.

Bibtex

@inproceedings{Dobrin219,
author = {Radu Dobrin and Gerhard Fohler},
title = {Implementing Off-line Message Scheduling on Controller Area Network (CAN)},
month = {October},
year = {2001},
booktitle = {In 8th IEEE Int. Conf. on Emerging Technologies {\&} Factory Automation},
url = {http://www.es.mdu.se/publications/219-}
}