Abstract
CAN bus systems are used in many industrial control applications, particularly automotive. Due to growing system and functional requirements, the low capacity of the CAN bus and usually strict conditions under which it is used in realtime applications, applicability of CAN bus is severely limited. The paper presents an approach for achieving high utilization and breathes new life to CAN bus based systems by proposing a dynamic offset adaptation algorithm for scheduling messages and improving message response times without any changes to a standard CAN bus. This simple algorithm, which runs on all nodes of the system, results in excellent average response times at all loads and makes the approach particularly attractive for soft real-time systems. We demonstrate the performance improvement of the proposed approach by comparisons to other approaches and introduce a new performance measure in the form of a rating function.
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