Abstract
Industrial communication networks like the Controller Area Network (CAN) are often required to operate reliably in harsh environments which expose the communication network to random errors. Probabilistic schedulability analysis can employ rich stochastic error models to capture random error behaviors, but this is most often at the expense of increased analysis complexity. In this paper, an efficient method (of time complexityO(n log n)) to bound the message deadline failure probabilities for an industrial CAN network consisting ofnperiodic/sporadic message transmissions is proposed. The paper develops bounds for Deadline Minus Jitter Monotonic (DMJM) and Earliest Deadline First (EDF) message scheduling techniques. Both random errors and random bursts of errors can be included in the model. Stochastic simulations and a case study considering DMJM and EDF scheduling of an automotive benchmark message set provide validation of the technique and highlight its application.
Highlights
Real-time industrial communication networks such as Controller Area Network (CAN) are often required to operate in harsh environments, where they may be subject to environmental hazards such as electromagnetic interference (EMI) and other forms of mechanical/electrical stresses
This paper is concerned with probabilistic schedulability analysis of the communications in realtime industrial CAN networks which are scheduled by a priority-driven algorithm in the presence of transient and/or intermittent errors
The paper focuses upon both fixed priority (the Deadline Minus Jitter Monotonic (DMJM) algorithm) and dynamic priority (EDF) scheduling methods, the latter of which can be enforced at the CAN application layer, due to their known optimality in a networked environment under a wide variety of operating configurations [6, 7]
Summary
Real-time industrial communication networks such as Controller Area Network (CAN) are often required to operate in harsh environments, where they may be subject to environmental hazards such as electromagnetic interference (EMI) and other forms of mechanical/electrical stresses. The paper is concerned with the fast calculation of tight bounds on the probability that a deadline will be missed when error arrivals cause messages to be aborted and subsequently rescheduled for transmission after the transmission of an error message Such retransmission is a form of redundancy which requires some temporal “slack capacity” in the message schedule; how much slack is required to be allocated depends upon many factors including the level of criticality in the service the system provides, the message set parameters and scheduling algorithm, and the nature of the error detection and correction mechanisms employed by the system. Some recent results on probabilistic realtime error models and schedulability analysis in [1, 8] are extended, and an efficient method to bound the deadline failure probabilities for a set of n periodic/sporadic messages transmitted in a real-time industrial communication network is proposed.
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