Response Time Analysis of Messages in Controller Area Network: A Review

Gerardine Immaculate Mary,Lawrence Jenkins,Z C Alex

doi:10.1155/2013/148015

Abstract

This paper reviews the research work done on the response time analysis of messages in controller area network (CAN) from the time CAN specification was submitted for standardization (1990) and became a standard (1993) up to the present (2012). Such research includes the worst-case response time analysis which is deterministic and probabilistic response time analysis which is stochastic. A detailed view on both types of analyses is presented here. In addition to these analyses, there has been research on statistical analysis of controller area network message response times.

Highlights

E arbitration mechanism employed by controller area network (CAN) means that messages are sent as if all the nodes on the network share a single global priority-based queue
The worst case response time analysis of messages in controller area network and the probabilistic response time analysis of CAN messages are reviewed. e worst-case response time analysis includes the worst-case response time analysis presented in early 1990s by Tindell et al [2,3,4,5] and the worst case response time analysis by Davis et al [1] in 2007
In worst-case analysis, it is assumed that every error ag transmitted has a retransmission associated, whereas this is not true, since the same error can cause many error ags and only one retransmission. is assumption causes some level of pessimism. ere are different methods presented in [6] whereby we can reduce the number of stuff bits, either by using XOR operation on the messages before transmission and redoing the XOR a er reception, avoiding having continuous bits of zeros or ones, thereby avoiding bit stuffing. e other method presented in [6] is to choose the priorities such that the identi er bits do not have continuous ones or zeros, thereby avoiding bit stuffing

Summary

Introduction

E arbitration mechanism employed by CAN means that messages are sent as if all the nodes on the network share a single global priority-based queue. Is analysis provided a method of calculating the worst-case response times of all CAN messages Using this analysis it became possible to engineer CAN-based systems for timing correctness, providing guarantees that all messages and the signals that they carry would meet their deadlines. Real-time researchers have extended schedulability analysis to a mature technique which for non-trivial systems can be used to determine whether a set of tasks executing on a single CPU or in a distributed system will meet their deadlines or not [1, 2, 4, 5]. E organization of the paper is as follows: in Section 2, the review of the research on Worst Case Response Time Analysis of CAN messages is presented, and, the review of the research on Probabilistic Response Time Analysis of CAN messages is presented In both sections, the method of bit stuffing is reviewed

Worst-Case Response Time Analysis of CAN Messages

Probabilistic Response Time Analysis of CAN Messages

Conclusion