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Using bit-stuffing distributions in CAN analysis

Fulltext:


Authors:

Thomas Nolte, Hans Hansson, Christer Norström, Sasikumar Punnekkat

Publication Type:

Conference/Workshop Paper

Venue:

Proceedings of the IEEE/IEE Real-Time Embedded Systems Workshop in conjunction with the 22nd IEEE Real-Time Systems Symposium (RTSS01)

Publisher:

Technical Report, Department of Computer Science, University of York

Abstract

This paper investigates the level of pessimism of traditional schedulability analysis for the Controller Area Network (CAN). Specifically, we investigate the effects of considering bit-stuffing distributions instead of worst case bit-stuffing. This allows us to obtain bus utilisation values more close to reality. On the other hand, since our analysis is based on assumptions concerning distributions of stuffed bits, our response times will only be met with some probability. We introduce a model and a method, that relaxes the pessimism of the worst-case analysis, and we show the effect of our method by considering both an artificial traffic model and samples of real CAN traffic. Our conclusion from this investigation is that actual frame sizes, with a very high probability, is in the order of 10% smaller than the worst cases used in traditional analysis. Also, we propose a simple coding scheme, which substantially reduces the number of stuffed bits in the considered real traffic.

Bibtex

@inproceedings{Nolte298,
author = {Thomas Nolte and Hans Hansson and Christer Norstr{\"o}m and Sasikumar Punnekkat},
title = {Using bit-stuffing distributions in CAN analysis},
editor = {Iain Bate, Steve Liu},
month = {December},
year = {2001},
booktitle = {Proceedings of the IEEE/IEE Real-Time Embedded Systems Workshop in conjunction with the 22nd IEEE Real-Time Systems Symposium (RTSS01)},
publisher = {Technical Report, Department of Computer Science, University of York},
url = {http://www.es.mdu.se/publications/298-}
}