Schedulability analysis of Multi-Frame messages over Controller Area Networks with mixed-queues

• The Controller Area Network (CAN) is one of the most widely utilized real-time communication networks, which has plenty of applications especially in automotive industry. Many works have been proposed regarding the CAN schedulability analysis which is very important for guaranteeing the safety and reliability of hard real-time systems. Most of the existing analysis methods assume a periodic message model, and some of them take sporadic messages into account. However, for some applications, message transmissions may follow a specific pattern instead of repeating the same transmission period by period, where applying the existing methods may include much pessimism. In this paper, we apply the Multi-Frame task model, which is first proposed by Mok and Chen in cite{MokChen}, on CAN messages. Moreover, we assume that the ECUs in the analyzed network can employ both FIFO and priority based queues. The schedulability analysis and the corresponding proofs are provided along with a case study.

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