SCHEDULING MESSAGES ON CONTROLLER AREA NETWORK FOR REAL-TIME CIM APPLICATIONS

Scheduling messages on the controller area network (CAN) corresponds t o assigning identifiers (ID's) to messages according to their prioriti es. In this paper we present the mixed traffic scheduler (MTS), which provides higher schedulability than fixed-priority schemes like deadli ne-monotonic (DM) while incurring less overhead than dynamic earliest- deadline (ED) scheduling. Through simulations, we compare the performa nce of MTS with that of DM and ED (an imaginary scheduler which works like ED, except it incurs less overhead). Our simulations show that M TS performs much better than DM and at the same level as ED, except u nder high loads and tight deadlines, when ED is superior.