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Probabilistic Worst-Case Response-Time Analysis for the Controller Area Network

Authors: Thomas Nolte, Hans Hansson, Christer Norström
Source: MRTC report ISSN 1404-3041 ISRN MDH-MRTC-77/2002-1-SE, Mälardalen Real-Time Research Centre, Mälardalen University
 

Abstract

This paper presents a novel approach for calculating a probabilistic worst-case response-time for messages in the Controller Area Network (CAN). CAN uses a bit-stuffing mechanism to exclude forbidden bit-patterns within a message frame. The added bits eliminate the forbidden patterns but cause an increase in frame length. How much the length is increased depends on the bit-pattern of the original message frame. Traditional response-time analysis methods assume that all frames have a worst-case number of stuff-bits. This introduces pessimism in the analysis. In this paper we introduce an analysis approach based on using probability distributions to model the number of stuff-bits. The new analysis additionally opens up for making trade-offs between reliability and timeliness, in the sense that the analysis will provide a certain probability for missing deadlines, which in the reliability analysis can be treated as a probability of failure. We evaluate the performance of our method using a subset of the SAE benchmark.
 

BibTeX entry

@techreport{Nolte_0443:2002,
   author = {Thomas Nolte and Hans Hansson and Christer Norstr{\"o}m},
   title = {Probabilistic Worst-Case Response-Time Analysis for the Controller Area Network},
   month = {November},
   year = {2002},
   publisher = {MRTC},
   institution = {M{\aa}lardalen University},
   number = {ISSN 1404-3041 ISRN MDH-MRTC-77/2002-1-SE},
   type = {{T}echnical {R}eport},
   url = {http://www.mrtc.mdh.se/index.php?choice=publications&id=0443},
}

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