Scheduling Hard and Soft Real-Time Communication in the Controller Area Network (CAN)

Abstract The paper introduces a mechanism to implement distributed scheduling for CAN-bus resource in order to meet the requirements of a dynamic distributed real-time system. The key issues considered here, are multicasting, distinguishing between hard real-time, soft real-time, and non real-time constraints, achieving high resource utilization for CAN-bus, and supporting dynamic hard real-time computing by allowing dynamic reservation of communication resources.

[1]  Hermann Kopetz,et al.  THE ARCHITECTURE OF MARS , 1995, Twenty-Fifth International Symposium on Fault-Tolerant Computing, 1995, ' Highlights from Twenty-Five Years'..

[2]  James W. Layland,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[3]  J. Kaiser,et al.  DIRECT : Towards a Distributed Object-Oriented Real-Time Control System , 1994 .

[4]  Kang G. Shin,et al.  Non-preemptive scheduling of messages on controller area network for real-time control applications , 1995, Proceedings Real-Time Technology and Applications Symposium.

[5]  Martin Gergeleit,et al.  Implementing a distributed high-resolution real-time clock using the CAN-bus , 1994 .

[6]  Krithi Ramamritham,et al.  The Spring kernel: a new paradigm for real-time operating systems , 1989, OPSR.

[7]  Alan Burns,et al.  Guaranteeing message latencies on controller area network (can) , 1994 .

[8]  Hermann Kopetz,et al.  Clock Synchronization in Distributed Real-Time Systems , 1987, IEEE Transactions on Computers.

[9]  Alan Burns,et al.  Deadline Monotonic Scheduling Theory , 1992 .

[10]  Günter Grünsteidl,et al.  TTP - A Protocol for Fault-Tolerant Real-Time Systems , 1994, Computer.

[11]  Jörg Kaiser,et al.  Invocation of real-time objects in a CAN bus-system , 1998, Proceedings First International Symposium on Object-Oriented Real-Time Distributed Computing (ISORC '98).

[12]  Jörg Kaiser,et al.  EDF Consensus on CAN Bus Access for Dynamic Real-Time Applications , 1998, IPPS/SPDP Workshops.

[13]  Hermann Kopetz,et al.  TTP - A time-triggered protocol for fault-tolerant real-time systems , 1993, FTCS-23 The Twenty-Third International Symposium on Fault-Tolerant Computing.

[14]  RamamrithamKrithi,et al.  The Spring Kernel , 1991 .

[15]  Alan Burns,et al.  Calculating controller area network (can) message response times , 1994 .

[16]  Alan Burns,et al.  Hard Real-Time Scheduling: The Deadline-Monotonic Approach , 1991 .