Response time analysis of mixed scheduling over CAN

CAN (Control Area Network) bus has been widely used as a standard for factory automation. This paper mainly investigates the mixed scheduling problem. By combining the response time analysis of static scheduling and dynamic scheduling, the theoretic maximum response time of mixed scheduling is obtained. The results of the experiments under different bus rates show that the actual maximum response time of message is smaller than the theoretic maximum response time of the message. And using mixed scheduling can lower the response time of the message in the subset with high priority while the performance of the system as well as the other scheduling.