Scheduling messages on controller area network for real-time CIM applications

Scheduling messages on the controller area network (CAN) corresponds to assigning identifiers (ID´s) 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