Scheduling messages on controller area network for real-time CIM applications
Khawar M. Zuberi, Kang Geun Shin · IEEE Transactions on Robotics and Automation · 1997
Scheduling messages on the Controller Area Network (CAN) corresponds to assigning identifiers (IDs) to messages according to their priorities. In this paper we present the mixed traffic scheduler (MTS), which provides higher schedulability than fixed-priority schemes like deadline-monotonic (DM) while incurring less overhead than dynamic earliest-deadline (ED) scheduling. Through simulations, we compare the performance of MTS with that of DM and ED* (an imaginary scheduler which works like ED, except it incurs less overhead). Our simulations show that MTS performs much better than DM and at the same level as ED*, except under high loads and tight deadlines, when ED* is superior. I. Introduction Local area networks (LANs) are becoming increasingly popular in industrial automation and other real-time control applications [1], [2]. LANs allow field devices like sensors, actuators, and controllers to be interconnected at low cost --- using less wiring and requiring less maintenance than p...