Design and implementation of efficient message scheduling for controller area network

The Controller Area Network (CAN) is being widely used in real-time control applications such as automobiles, aircraft, and automated factories. In th is paper, we present the mixed traffic scheduler (MTS) for CAN, which provi des higher schedulability than fixed-priority schemes like deadline-monoton ic (DM) white incurring less overhead than dynamic earliest-deadline (EO) s cheduling. Mle also describe how MTS can be implemented on existing CAN net work adapters such as Motorola's TouCAN. in previous work [1], [2], we had shown MTS to be far superior to OM in schedulability performance. In this p aper, we present implementation overhead measurements showing that processi ng needed to support MTS consumes only about 5 to 6 percent of CPU time. Co nsidering its schedulability advantage, this makes MTS ideal for use in con trol applications.