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Integrating Mixed Transmission and Practical Limitations with the Worst-Case Response-Time Analysis for Controller Area Network
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems. (IS)ORCID iD: 0000-0003-3242-6113
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0003-2957-0966
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0001-7586-0409
2015 (English)In: Journal of Systems and Software, ISSN 0164-1212, E-ISSN 1873-1228, Vol. 99, p. 66-84Article in journal (Refereed) Published
Abstract [en]

The existing worst-case response-time analysis for Controller Area Network (CAN) calculates upper bounds on the response times of messages that are queued for transmission either periodically or sporadically. However, it does not support the analysis of mixed messages. These messages do not exhibit a periodic activation pattern and can be queued for transmission both periodically and sporadically. They are implemented by several higher-level protocols based on CAN that are used in the automotive industry. We extend the existing analysis to support worst-case response-time calculations for periodic and sporadic as well as mixed messages. Moreover, we integrate the effect of hardware and software limitations in the CAN controllers and device drivers such as abortable and non-abortable transmit buffers with the extended analysis. The extended analysis is applicable to any higher-level protocol for CAN that uses periodic, sporadic and mixed transmission modes.

Place, publisher, year, edition, pages
2015. Vol. 99, p. 66-84
National Category
Engineering and Technology Computer and Information Sciences
Identifiers
URN: urn:nbn:se:mdh:diva-24971DOI: 10.1016/j.jss.2014.09.005ISI: 000347131600005Scopus ID: 2-s2.0-84912523115OAI: oai:DiVA.org:mdh-24971DiVA, id: diva2:716341
Available from: 2014-05-09 Created: 2014-05-09 Last updated: 2018-01-11Bibliographically approved
In thesis
1. Communications-Oriented Modeling and Development of Vehicular Distributed Embedded Systems
Open this publication in new window or tab >>Communications-Oriented Modeling and Development of Vehicular Distributed Embedded Systems
2014 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The model- and component-based development approach has emerged as an attractive option for the development of vehicular distributed real-time embedded systems. Within this context we target challenges related to modeling of legacy network communication, extraction of end-to-end timing models and support for end-to-end timing analysis.

We propose a novel approach for modeling legacy network communication in these systems. By introducing special-purpose components to encapsulate and abstract the communication protocols, we allow the use of legacy nodes and legacy protocols in a component- and model-based software engineering environment. Because an end-to-end timing model should be available to perform the end-to-end response-time and delay analyses, we present a method to extract the timing models from these systems. We also extend the method to various abstraction levels and parts of the development process for the systems. During the models extraction, we identify that the existing worst-case response-time analysis for Controller Area Network (CAN), a widely used real-time network protocol in the vehicular domain, does not support mixed messages. These messages are partly periodic and partly sporadic. They are implemented by some higher-level protocols for CAN used in the industry. We extend the existing analysis which is now applicable to any higher-level protocol for CAN that uses periodic, sporadic and/or mixed transmission.

In order to show the application of our modeling techniques, timing model extraction method and extended analyses; we provide a proof of concept by extending the Rubus Component Model, which is used for the development of software for vehicular embedded real-time systems by several international companies. We also implement the end-to-end response-time and delay analyses along with the extended analysis for CAN in the existing industrial tool suite the Rubus-ICE. Moreover, we implement the extended analysis for CAN in a free tool MPS-CAN analyzer. Further, we conduct automotive-application case studies to validate our methods and techniques.

Place, publisher, year, edition, pages
Västerås: Mälardalen University, 2014
Series
Mälardalen University Press Dissertations, ISSN 1651-4238 ; 160
Keyword
Embedded systems; real-time systems; distributed embedded systems; component-based development; End-to-end timing analysis; response-time analysis; Controller Area Network; component model; timing model
National Category
Embedded Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:mdh:diva-24969 (URN)978-91-7485-151-9 (ISBN)
Public defence
2014-06-16, U2-013, Mälardalens högskola, Västerås, 10:15 (English)
Opponent
Supervisors
Projects
SynthSoftFEMMVAEEMDEF
Funder
Swedish Research Council, 16330
Available from: 2014-05-08 Created: 2014-05-08 Last updated: 2014-05-09Bibliographically approved

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Mubeen, SaadMäki-Turja, JukkaSjödin, Mikael

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