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Real-Time Server-Based Communication for CAN


Paper will be available after publication date

Research group:

Publication Type:

Journal article


IEEE Transactions on Industrial Informatics


IEEE Industrial Electronics Society


This paper investigates the concept of share-driven scheduling, using servers, of networks with real-time properties. Share-driven scheduling provides fairness and bandwidth isolation between predictable as well as unpredictable streams of messages on the network.The need for this kind of scheduled real-time communication network is high in applications that have requirements on flexibility, both during development for assigning communication bandwidth to different applications, and during run-time to facilitate dynamic addition and removal of system components.We illustrate the share-driven scheduling concept by applying it to the popular Controller Area Network (CAN). We propose a scheduling mechanism that we call Simple Server-Scheduled CAN (SSS-CAN), for which we also present an associated timing analysis. Additionally, we present a variant of SSS-CAN called Periodic Server-Scheduled CAN (PSS-CAN), which for some network configurations gives lower worst-case response-times than SSS-CAN. Also for this improvement, a timing analysis is presented. Moreover, we use simulation to evaluate the timing performance of both SSS-CAN and PSS-CAN, comparing them with other scheduling mechanisms.


author = {Thomas Nolte and Mikael Sj{\"o}din and Hans Hansson},
title = {Real-Time Server-Based Communication for CAN},
note = {Paper will be available after publication date},
volume = {1},
number = {3},
pages = {192--201},
month = {August},
year = {2005},
journal = {IEEE Transactions on Industrial Informatics},
publisher = {IEEE Industrial Electronics Society},
url = {}