Server-based scheduling of the CAN bus

In this paper we present a new share-driven server-based method for scheduling messages sent over the controller area network (CAN). Share-driven methods are useful in many applications, since they provide both fairness and bandwidth isolation among the users of the resource. Our method is the first share-driven scheduling method proposed for CAN. Our server-based scheduling is based on earliest deadline first (EDF), which allows higher utilization of the network than using CAN´s native fixed-priority scheduling approach. We use simulation to show the performance and properties of server-based scheduling for CAN. The simulation results show that the bandwidth isolation property is kept, and they show that our method provides a quality-of-service (QoS), where virtually all messages are delivered within a specified time.