The utilization bound of non-preemptive rate-monotonic scheduling in Controller Area Networks is 25%
Bjorn A. Andersson, Eduardo Tovar · 2009
Consider a distributed computer system comprising many computer nodes, each interconnected with a controller area network (CAN) bus. We prove that if priorities to message streams are assigned using rate-monotonic (RM) and if the requested capacity of the CAN bus does not exceed 25% then all deadlines are met.