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Starvation-free Scheduling for Mixed tasks of Aperiodic, Sporadic, and Periodic tasks using Priority Queues with a slack bit over Controller Area Network

Published: 21 November 2023 Publication History

Abstract

Controller Area Network (CAN) is a de facto standard for the message communication among electronic control units (ECUs) in vehicles. Each ECU on the CAN bus operates independently; there is no need to have a principal processor that controls message communications on the shared bus. The CAN bus adapts non-destructive arbitration scheme to determine which device is dominant to transmit on the bus. When multiple devices begin transmitting at the same time, only one device wins the arbitration and starts to transmit, and all other loosing devices continue to receive the remainder of the message from the winning device, and they wait until the winning device finishes before attempting to send their own data again. The lower priority. CAN messages keep losing their transmission turns upon every collision of multiple messages on the CAN bus − starvation problem, which is seen as priority scheduling algorithm that happens to make some low-priority processes waiting indefinitely. The paper presents the starvation problem in CAN real-time scheduling, where multiple messages from different ECUs are simultaneously trying to win the bus arbitration for bus access. All messages losing their turn in the current arbitration round receive preferential access regarding to their remaining slack time even if their priorities are lower than the highest priority message(s) in other ECU(s) during the next arbitration round. Aperiodic messages are considered as urgent sporadic to be dominant to meet their deadlines to transmit their messages.

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  1. Starvation-free Scheduling for Mixed tasks of Aperiodic, Sporadic, and Periodic tasks using Priority Queues with a slack bit over Controller Area Network

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    ICISS '23: Proceedings of the 2023 6th International Conference on Information Science and Systems
    August 2023
    301 pages
    ISBN:9798400708206
    DOI:10.1145/3625156
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

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    Published: 21 November 2023

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    Author Tags

    1. Controller Area Network
    2. Priority Queues with Slack Times
    3. Real-time Scheduling
    4. Starvation Problem

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