Controller Area Network (CAN) schedulability analysis: Refuted, revisited and revised

By Robert I. Davis, Alan Burns, R. Bril, Johan J. Lukkien. Real-time systems, 2007

849 citations recorded by the source corpus.

Controller Area Network (CAN) is used extensively in automotive applications, with in excess of 400 million CAN enabled microcontrollers manufactured each year. In 1994 schedulability analysis was developed for CAN, showing how worst-case response times of CAN messages could be calculated and hence guarantees provided that message response times would not exceed their deadlines. This seminal research has been cited in over 200 subsequent papers and transferred to industry in the form of commercial CAN schedulability analysis tools. These tools have been used by a large number of major automotive manufacturers in the design of in-vehicle networks for a wide range of cars, millions of which have been manufactured during the last decade.This paper shows that the original schedulability analysis given for CAN messages is flawed. It may provide guarantees for messages that will in fact miss their deadlines in the worst-case. This paper provides revised analysis resolving the problems with the original approach. Further, it highlights that the priority assignment policy, previously claimed to be optimal for CAN, is not in fact optimal and cites a method of obtaining an optimal priority ordering that is applicable to CAN. The paper discusses the possible impact on commercial CAN systems designed and developed using flawed schedulability analysis and makes recommendations for the revision of CAN schedulability analysis tools.

Subfields: Computational Theory and Mathematics, Hardware and Architecture

View Paper: https://www.semanticscholar.org/paper/98ad0e5af37cd0576240de94da72ce609421726b

How researchers see this paper

The researchers whose trusted networks rank it highest, strongest advocate first. Every researcher gets a different order.

In Computational Theory and Mathematics

1. Alan Burns
2. Robert I. Davis
3. Chenyang Lu
4. Yixin Chen

In Hardware and Architecture

1. Robert I. Davis
2. Alan Burns

Citations in the corpus

• Mixed Criticality Systems - A Review (2015, background): “It has been the subject of considerable attention with Response-Time Analysis derived [87] for what is, in essence, a fixed priority non-preemptive protocol.”
• Real-Time Wireless Sensor-Actuator Networks for Industrial Cyber-Physical Systems (2016, background): “In contrast to wired industrial networks (e.g., control area networks [5]) with well established real-time scheduling techniques, there have been limited results on real-time scheduling for WSANs.”
• A Survey of Intrusion Detection for In-Vehicle Networks (2020, background): “Assuming that the system is schedulable, all CAN messages can meet their deadlines [60], and the total number of”
• Trends in Automotive Communication Systems (2005, neutral): “bility is the granting of bus access according to the priority of the messages (the reader can refer to [68, 43, 12] for how to compute bound on response”